Merge pull request #1114 from ruvnet/examples/through-wall-tools

examples(through-wall): ESP32 sensor auto-detection + WiFlow analysis tools

.github/workflows/ruview-swarm-ci.yml

@@ -36,7 +36,7 @@ jobs:
         features:
           - { label: 'default',          flags: '--no-default-features' }
           - { label: 'train',            flags: '--features train' }
-          - { label: 'ruflo+itar',       flags: '--features ruflo,itar-unrestricted' }
+          - { label: 'ruflo',            flags: '--features ruflo' }
           - { label: 'full+train',       flags: '--features full,train' }
     steps:
       - uses: actions/checkout@v4

.gitignore

@@ -277,3 +277,6 @@ aether-arena/staging/
 # MM-Fi benchmark dataset archives — large data, fetch separately, never commit
 assets/MM-Fi/E0*.zip
 assets/MM-Fi/*.zip
+
+# through-wall demo: regenerable trained model artifact
+examples/through-wall/model/

.gitmodules

@@ -21,3 +21,11 @@
 [submodule "vendor/rufield"]
 	path = vendor/rufield
 	url = https://github.com/ruvnet/rufield
+[submodule "v2/crates/ruview-swarm"]
+	path = v2/crates/ruview-swarm
+	url = https://github.com/ruvnet/ruv-drone.git
+	branch = main
+[submodule "v2/crates/worldgraph"]
+	path = v2/crates/worldgraph
+	url = https://github.com/ruvnet/worldgraph.git
+	branch = main

docs/adr/ADR-177-nvsim-degenerate-input-hardening.md

@@ -0,0 +1,92 @@
+# ADR-177: `nvsim` Degenerate-Input Hardening (NV-Diamond Simulator)
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — 2 real MEDIUM bugs fixed + pinned; determinism preserved |
+| **Date** | 2026-06-15 |
+| **Deciders** | ruv |
+| **Codename** | **NVSIM-FAILCLOSED** |
+| **Reviews** | ADR-089 (`nvsim` NV-diamond magnetometer pipeline simulator) |
+| **Milestone** | #9 (ungated-crate security sweep) — crate 2 of 4 |
+
+## Context
+
+`nvsim` (ADR-089) is a standalone, **WASM-ready** deterministic NV-diamond
+magnetometer pipeline simulator — a forward-only leaf:
+`scene → source → propagation → NV ensemble → digitiser → MagFrame + SHA-256
+witness`. It has no network surface, so the real attack surface is **degenerate
+physical-parameter input** crossing the external boundary — specifically the
+WASM `config_json` / `scene_json` entry points.
+
+Two properties matter for this crate that don't for others: it is billed
+**deterministic** (a published cross-machine witness must reproduce bit-exactly),
+and under `panic=abort` WASM any panic **aborts the whole module**. So a
+config-induced panic is a denial-of-service, and a silent numeric corruption
+defeats the simulator's entire purpose.
+
+## Decision
+
+Fix the two reachable degenerate-input bugs at their funnel points, each pinned
+by a fails-on-old test, **without perturbing the deterministic happy path** (the
+guards fire only on non-finite / degenerate input; the published witness is
+unchanged).
+
+### Findings fixed (both MEASURED-reproduced)
+
+| # | Severity | Location | Issue | Fix |
+|---|----------|----------|-------|-----|
+| NVSIM-DT-01 | MEDIUM (DoS) | `pipeline.rs:58,95` | `dt = config.dt_s.unwrap_or(1.0 / f_s_hz)`; an external `f_s_hz == 0.0` → `dt = +Inf` → `(dt*1e6) as u64` saturates to `u64::MAX` → `(sample as u64) * dt_us` **panics `attempt to multiply with overflow`** at `sample ≥ 2` (debug/WASM-abort; garbage `t_us` in release). MEASURED: panic at `pipeline.rs:95:30`. | Sanitise `dt` (non-finite/non-positive → 1 µs fallback), cap the `u64` cast at `u64::MAX`, `saturating_mul` the timestamp — no config can overflow it. |
+| NVSIM-NAN-01 | MEDIUM (silent corruption) | funnel `digitiser.rs::adc_quantise` (root: near-field clamp bypass in `source.rs`) | A non-finite scene param (NaN/Inf dipole position, Inf moment, NaN loop radius) **bypasses the near-field clamp** (`NaN < R_MIN_M == false` → the `1/r³` path runs → NaN field), and at the ADC `NaN as i32 == 0` (Rust saturating cast) emits a frame `b_pt=[0,0,0]` with **`ADC_SATURATED` CLEAR** — indistinguishable from a legitimate zero-field reading. MEASURED: `b=[NaN,NaN,NaN] sat=false` → `b_pt=[0,0,0] flags=0b0000`. | `adc_quantise`: any non-finite input → code `0` **with the saturation flag raised**; the pipeline's existing `adc_sat` OR-reduction propagates `ADC_SATURATED` onto the frame, making the corruption visible downstream. |
+
+This is the same **NaN-fail-open / NaN-poisoning** family seen across
+calibration/vitals/geo and ruview-swarm — non-finite input defeating a guard —
+but bounded here to a single frame (no cross-timestep accumulator).
+
+### Dimensions confirmed clean (with evidence)
+
+1. **Determinism integrity — clean.** One RNG only: `ChaCha20Rng::seed_from_u64(seed)`,
+   fully caller-seeded (grep: one `seed_from_u64`, **zero** `thread_rng`/`getrandom`/
+   `SystemTime`/`Instant`/`HashMap`); `Cargo.toml` pins `rand`/`rand_chacha`
+   `default-features=false` (no OS entropy). Box–Muller draws
+   `gen_range(f64::EPSILON..=1.0)` (avoids `ln(0)=-Inf` by construction). Frame
+   bytes fixed LE; source summation order fixed by `Vec` order. **The published
+   cross-machine witness `cc8de9b0…93b4` (`proof_witness_publishes_a_known_value`)
+   passes UNCHANGED after both fixes** — the happy path is byte-identical; guards
+   touch only degenerate inputs. *Attested caveat (not a finding): libm
+   `cos`/`ln`/`sqrt` could differ x86↔wasm; the witness is documented as
+   x86_64-captured.*
+2. **Panic-free deserialisation — clean.** `MagFrame::from_bytes` validates
+   len/magic/version, then per-field `buf[a..b].try_into().expect(...)` are over
+   fixed sub-ranges of an already-length-checked 60-byte buffer (provably
+   infallible). No `unsafe`, no `panic!`/`unreachable!` in production; every other
+   `unwrap`/`expect` is `#[cfg(test)]`.
+3. **Div-by-zero / numerical landmines — clean.** `dipole_field`/`current_loop_field`
+   clamp `r_norm < R_MIN_M` before `1/r³`,`1/r²` (finite inputs); `shot_noise_floor`
+   guards `denom <= 0`; `vec3_normalise` guards `n < 1e-20`. The only hole was the
+   NaN *bypass* of the clamp — closed at the ADC funnel (NVSIM-NAN-01).
+
+## Validation
+
+- `cargo test -p nvsim --no-default-features` → **50 → 53** passed, 0 failed (+3 pins:
+  `degenerate_zero_sample_rate_does_not_panic`,
+  `non_finite_scene_input_flags_frame_instead_of_silently_zeroing`,
+  `adc_quantise_flags_non_finite_as_saturated`).
+- `cargo test --workspace --no-default-features` → **exit 0**, 0 failed.
+- `python archive/v1/data/proof/verify.py` → **VERDICT: PASS**, hash
+  `f8e76f21…46f7a` unchanged (nvsim off the signal proof path).
+- nvsim's own cross-machine witness `cc8de9b0…93b4` reproduces unchanged.
+
+## Consequences
+
+### Positive
+- A config-induced WASM-abort DoS and a silent NaN→fake-zero-field corruption are
+  closed at their funnel points, each regression-pinned, with the deterministic
+  witness proven intact.
+
+### Negative / Neutral
+- None. Guards affect only degenerate inputs; happy-path output is byte-identical.
+
+## Links
+- ADR-089 — `nvsim` NV-diamond magnetometer simulator
+- ADR-176 — `ruview-swarm` (sibling NaN-fail-open review)
+- ADR-172 — core/cli (where the NaN-bug-class root was settled NO)

docs/adr/ADR-178-desktop-ipc-injection-and-capability-least-privilege.md

@@ -0,0 +1,87 @@
+# ADR-178: `wifi-densepose-desktop` IPC Injection Fix + Capability Least-Privilege
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — 2 real MODERATE bugs fixed + pinned (MEASURED on Windows) |
+| **Date** | 2026-06-15 |
+| **Deciders** | ruv |
+| **Codename** | **DESK-LOCKDOWN** |
+| **Reviews** | `wifi-densepose-desktop` (Tauri v2 desktop app) |
+| **Milestone** | #9 (ungated-crate security sweep) — crate 3 of 4 |
+
+## Context
+
+`wifi-densepose-desktop` is the Tauri v2 desktop app (ESP32 discovery, firmware
+flashing, OTA, provisioning, server control). The real attack surface is the
+**Tauri IPC boundary** — `#[tauri::command]` handlers that take arguments from the
+webview/JS — and the **capability/allowlist scope**. The crate **builds and tests
+on Windows** (Tauri 2.10.3, webview2 path, no GTK), so both findings are MEASURED,
+not source-analysis-only.
+
+## Decision
+
+Fix the two real findings; attest the rest of the surface clean with evidence.
+
+### Findings fixed (both MEASURED)
+
+| # | Severity | Location | Issue | Fix |
+|---|----------|----------|-------|-----|
+| WDP-DESK-01 | MODERATE | `src/commands/discovery.rs:438` (`configure_esp32_wifi`) | Webview-supplied `ssid`/`password` are concatenated into newline-terminated serial commands (`wifi_config {} {}\r\n`, `set ssid {}\r\n`) with **no validation** → a `\r\n` in either field **injects an arbitrary follow-up firmware command** (`reboot`, `erase_nvs`) across the IPC trust boundary. | `validate_wifi_credentials()` — WPA2 length bounds (SSID 1–32, password 8–63) **+ reject all control chars** (`char::is_control()`), called fail-closed before any serial write. |
+| WDP-DESK-02 | MODERATE | `capabilities/default.json:7-8` | `shell:allow-execute` + `shell:allow-open` granted to the webview but **unused** (Rust spawns via `std::process::Command`; the UI uses only `dialog.open`). A webview compromise (a UI-dependency XSS) → arbitrary **unscoped host command execution**. | Removed both `shell:` permissions (kept `core:default` + the two in-use `dialog:` perms); regenerated `gen/schemas/capabilities.json` now asserts `["core:default","dialog:allow-open","dialog:allow-save"]`. |
+
+Both are MODERATE (not HIGH): each requires a webview compromise or a malicious
+local caller to weaponize. The unifying lesson is **least privilege at the IPC
+boundary** — validate every webview-supplied argument that reaches a serial/FS/
+process sink, and grant only the capabilities actually exercised.
+
+### Tauri-command + capability audit (every handler)
+
+All 30+ command handlers were mapped. Only `configure_esp32_wifi` lacked input
+validation on a string that reached a command sink (WDP-DESK-01). Every
+subprocess uses `Command::new(prog).args([...])` (argv vector — no shell-string
+interpolation), so `port`/`source`/`chip`/`baud` cannot inject a second command
+even unvalidated. `tauri.conf.json` ships **no** `fs`/`http` plugin and **no**
+`"all":true`/`"$HOME/**"` scope; after WDP-DESK-02 the allowlist is minimal.
+
+### Dimensions confirmed clean (with evidence)
+
+1. **Directory traversal / arbitrary file** — path args (`firmware_path`/`wasm_path`)
+   are blobs the local user selects via the native `dialog.open` picker; settings
+   I/O is a fixed filename under `app_data_dir`. No attacker-named path sink.
+2. **Shell-string injection** — every subprocess is an argv vector; grep found no
+   shell-string interpolation anywhere.
+3. **SSRF-to-secret** — `node_ip`-built URLs target the local ESP32 mesh and return
+   only device status JSON; no credential returned to the webview.
+4. **Panic-on-input** — handlers use `.map_err(|e| e.to_string())?`; the one
+   `expect` is guarded by an `is_none()` early-return; provision/discovery
+   deserializers bounds-check every slice index (NVS size capped ≤ 4096).
+5. **Hardcoded secrets** — `ota_psk` is a per-call `Option<String>`, never embedded;
+   grep for embedded keys/tokens over `src/` is empty.
+6. **Shell plugin genuinely unused** — `tauri_plugin_shell` is `init()`-ed but its
+   `Command`/`open` API is never invoked from Rust or the TS UI (which imports only
+   `@tauri-apps/plugin-dialog`) — confirming WDP-DESK-02 is safe to remove.
+
+## Validation
+
+- `cargo check -p wifi-densepose-desktop --no-default-features` → `Finished` (Windows, MEASURED).
+- `cargo test -p wifi-densepose-desktop --no-default-features` → lib **18 → 21** (+3 validator pins:
+  `test_validate_wifi_credentials_rejects_injection` / `_rejects_out_of_range` / `_accepts_valid`),
+  integration 21/21, **0 failed**.
+- Capability narrowing MEASURED: regenerated `capabilities.json` permission set verified.
+- `python archive/v1/data/proof/verify.py` → **VERDICT: PASS**, hash `f8e76f21…46f7a`
+  unchanged (desktop off the signal proof path).
+
+## Consequences
+
+### Positive
+- An IPC serial-command-injection path and an over-broad shell capability are
+  closed in the desktop app, each pinned / verified, with the rest of the
+  30-command IPC surface attested clean.
+
+### Negative / Neutral
+- None. The removed shell capability was unused; the validator rejects only
+  malformed/hostile credentials.
+
+## Links
+- ADR-176 / ADR-177 — sibling Milestone-#9 reviews (ruview-swarm, nvsim)
+- ADR-172 — core/cli review

docs/adr/ADR-179-occworld-candle-checkpoint-load-hardening.md

@@ -0,0 +1,81 @@
+# ADR-179: `wifi-densepose-occworld-candle` Checkpoint-Load Hardening
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — 1 HIGH + 2 LOW bugs fixed + pinned (MEASURED on Windows) |
+| **Date** | 2026-06-15 |
+| **Deciders** | ruv |
+| **Codename** | **OCCWORLD-DTYPE** |
+| **Reviews** | `wifi-densepose-occworld-candle` (Candle occupancy-world model) |
+| **Milestone** | #9 (ungated-crate security sweep) — crate 4 of 4 — **CLOSES the milestone** |
+
+## Context
+
+`wifi-densepose-occworld-candle` is a Candle-based occupancy-world model
+(VQ-VAE + transformer over occupancy tokens). The real risk surface for an ML
+crate is degenerate-input / malformed-weights handling: a `#[forbid(unsafe_code)]`
+crate can still **panic** (a DoS, and under WASM an abort) when a tensor op hits an
+inconsistent shape. The crate **builds and tests on Windows**, so all findings are
+MEASURED.
+
+## Decision
+
+Fix the three reachable bugs, each pinned by a fails-on-old test; attest the rest
+clean with evidence.
+
+### Findings fixed (all MEASURED)
+
+| # | Severity | Location | Issue | Fix |
+|---|----------|----------|-------|-----|
+| 1 | **HIGH** | `model.rs:95` (`Dtype::I32 => Some(DType::I64)`) | **Crash on any int32-tensor checkpoint.** An I32 byte buffer (4 B/elem) is handed to `from_raw_buffer(.., I64, shape, ..)`; candle derives `elem_count = data.len()/8`, **halving** the count while keeping the original shape → a tensor that claims 2× its storage. Reading it **panics** with a slice-OOB (`range end index 6 out of range for slice of length 3`) inside candle-core. A checkpoint with any int32 tensor (index/buffer tensors are common in PyTorch exports) → **DoS on load**. | Map `I32 → DType::I32`, `I16 → DType::I16` (both first-class candle dtypes). Pinned by `int32_tensor_loads_with_consistent_shape_and_values` (panics on old, passes on new). |
+| 2 | LOW | `inference.rs::predict` | Frame/batch dims weren't validated (only H/W/D were): `f_in > num_frames*2` over-indexes the temporal embedding → a cryptic candle `InvalidIndex` *error* (not a panic — candle bounds-checks); zero frame/batch feeds a zero-element tensor. | Boundary guard rejects zero / over-capacity frame+batch with a clear `ShapeMismatch`. 5 pins. |
+| 3 | LOW | `vqvae.rs:141` (`z.elem_count() / last`) | **Divide-by-zero panic** in public `VQCodebook::encode` on a rank-0 / empty-last-dim tensor (`last == 0`). | Fail-closed guard returns a clear error. Pinned by `encode_rejects_scalar_without_panicking`. |
+
+The HIGH finding is the notable one: the crate's own dtype mapping **defeated**
+the upstream `safetensors::validate()` byte-length guarantee by misdeclaring the
+dtype — the one place malformed/widened weights could reach a panicking candle op.
+
+### Dimensions confirmed clean (with evidence)
+
+- **Panic surface** — grep for `unwrap()/expect()/panic!/unreachable!` across `src/`
+  → **zero in production paths**; all ops use `?`/`map_err`; the `last().unwrap_or(&0)`
+  is now guarded. `as` casts operate only on config-bounded/internal values.
+- **NaN-state-poisoning (the named class) — N/A.** The engine is **stateless between
+  `predict` calls** (no persistent world-model buffer to latch into), and input is
+  `u8` class indices (non-finite input structurally impossible). NaN weights flow to
+  `argmax` (deterministic, bounded to a valid class index) — no panic, no persistence.
+- **Unbounded alloc / shape-data mismatch from malformed weights** — defended upstream
+  by `safetensors::validate()` (overflow-checked `nelements*dtype.size()` vs declared
+  byte range + contiguous-offset + buffer-length checks), rejected before reaching
+  candle. Finding #1 was the one place the crate defeated that guarantee.
+- **Model/path loading** — `load`/`load_safetensors` check `path.exists()` → typed
+  `CheckpointNotFound`; corrupt bytes → `CheckpointParse` (pinned). No path-traversal
+  surface (caller-supplied path, opened read-only, never joined with untrusted segments).
+- **Secrets** — grep clean (only `token_h`/`token_w` config fields match `token`).
+- **Determinism** — the crate's central honesty claim, verified by the pre-existing
+  `tests/predict_honesty.rs` (3 tests, still pass).
+- `unsafe_code = "forbid"` in the manifest.
+
+## Validation
+
+- `cargo test -p wifi-densepose-occworld-candle --no-default-features` → **31/31**
+  (lib 17, checkpoint_loading 4, input_validation 5, predict_honesty 3, doctests 2),
+  0 failed.
+- `cargo test --workspace --no-default-features` → 0 failed across every crate (a lone
+  `wifi-densepose-desktop --test api_integration` "Access is denied (os error 5)" was a
+  Windows file-lock/AV flake — re-ran isolated 21/21, unrelated).
+- `python archive/v1/data/proof/verify.py` → **VERDICT: PASS**, hash `f8e76f21…46f7a`
+  unchanged (occworld off the signal proof path).
+
+## Consequences
+
+### Positive
+- A checkpoint-load DoS (the int32 dtype-widening panic) and two degenerate-input
+  panics are closed in the world-model crate, each pinned. **Milestone #9 (all 4
+  ungated crates) is complete.**
+
+### Negative / Neutral
+- None. Guards reject only malformed/degenerate inputs.
+
+## Links
+- ADR-176 / ADR-177 / ADR-178 — sibling Milestone-#9 reviews (ruview-swarm, nvsim, desktop)

examples/through-wall/README.md

@@ -0,0 +1,135 @@
+# WiFlow Browser Trainer (`wiflow_browser.html`)
+
+A **single self-contained HTML page** that does the entire camera-supervised
+WiFi-pose loop **in your browser, in your laptop camera's coordinate frame**, as
+a **4-stage gated flow** with a progress stepper (each stage unlocks the next):
+
+0. **CALIBRATE** *(ADR-151 empty-room baseline)* — you step OUT of the space; the
+   page captures ~10 s of the quiescent CSI and computes a per-feature running
+   **mean + std (Welford)** over the 410-d vector. Every CSI vector afterwards is
+   expressed as **deviation from baseline**
+   (`x_norm = (x − base_mean) / (base_std + ε)`), so a body's perturbation stands
+   out from the static channel. Persisted to IndexedDB. *Can't capture without it.*
+1. **CAPTURE** — MediaPipe Pose runs on your laptop camera → 17 COCO keypoints
+   (the *label*), paired with the **baseline-normalized** 410-d ESP32 CSI vector
+   (the *input*). A **guided, balanced routine** cycles big on-screen prompts
+   (stand / turn / walk / arms / crouch / sit / reach) with a countdown, and a
+   **per-pose coverage meter** so you build a balanced dataset, not 2 000 frames
+   of standing.
+2. **TRAIN** — a TensorFlow.js MLP learns `CSI → pose` in-browser. Honest
+   held-out PCK@0.10 / PCK@0.05 / MPJPE, plus a **mean-pose baseline** the model
+   must beat (the project's whole ethos — no baseline-beating signal, it says so).
+   *Can't train with <200 samples.*
+3. **INFER** — the trained model drives a skeleton **from WiFi CSI only**
+   (baseline-normalized → standardized → model), drawn over the **same** camera
+   frame it trained in — so the inferred skeleton **aligns** with the camera
+   image. That alignment is the entire point of doing this in-browser instead of
+   with a separate Python camera. *Can't infer without a model.*
+
+## Why in-browser
+
+The Python pipeline (`wiflow_capture.py` → `wiflow_train.py` → `wiflow_infer.py`)
+proved the signal is real (held-out PCK@0.10 ≈ 59.5% vs a 50% mean-pose baseline
+= +9.4 pp). But it trained in a *different* camera's frame, so the inferred
+skeleton never lined up with the laptop camera. Doing capture + train + infer all
+in the browser with the **same** camera makes the training frame and the
+inference frame identical → the skeleton aligns.
+
+## Compute backends (WebGPU / WASM / WebGL)
+
+Training and inference run on TensorFlow.js. The page selects the backend at
+startup, preferring the fastest available:
+
+- **WebGPU** (Chrome / Edge, secure context — `localhost` qualifies) — GPU compute.
+- **WASM-SIMD** fallback (`tfjs-backend-wasm`, SIMD enabled, `.wasm` from the CDN).
+- **WebGL** last-resort fallback (ships inside tfjs core).
+
+The **active backend is shown as a badge in the header** (`compute: WebGPU` /
+`WASM-SIMD` / `WebGL`) so it's honest about what's actually running. The model
+code is backend-agnostic — tf.js abstracts the device.
+
+## Honesty (baked in)
+
+- The **CAPTURE** skeleton (blue) is the camera = ground truth, labeled as such.
+- The **INFER** skeleton (green) is **CSI-only**, labeled, and **coarse** — the
+  real measured held-out PCK is shown, not a marketing number.
+- The **mean-pose baseline** is always computed and shown in TRAIN; the verdict
+  states plainly whether the model **beats** it (real signal) or **does not**
+  (no usable signal). This guards against the project's retracted 92.9% that
+  failed exactly this check.
+- Status banner is strict and mutually exclusive:
+  **LIVE** (real `source: "esp32"`) / **SIMULATED — not real** (any other source)
+  / **NO-CSI-SERVER**. The page never invents frames.
+
+## How to run
+
+### 1. Start the real sensing-server (provides the CSI WebSocket on :8765)
+
+```bash
+cd v2
+cargo build -p wifi-densepose-sensing-server
+./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005
+```
+
+A real ESP32-S3 must be provisioned and streaming for `source` to read `esp32`
+(see `CLAUDE.local.md` for the firmware build/provision steps). The page expects
+the verified live endpoint **`ws://localhost:8765/ws/sensing`** with
+`source:"esp32"`, nodes `[9, 13]`, `features.*`, `node_features[].features.*`,
+and `signal_field.values` (400 floats).
+
+### 2. Serve this page over localhost (camera + WebGPU need a localhost/secure origin)
+
+Any static localhost server works. For example:
+
+```bash
+python -m http.server 8099
+# then open: http://localhost:8099/examples/through-wall/wiflow_browser.html
+```
+
+(8099 is just the static file server — 8765 is a separate process, the CSI
+WebSocket.) Allow camera access when the browser prompts.
+
+Point at a CSI server on another host with `?ws=`:
+
+```
+http://localhost:8099/examples/through-wall/wiflow_browser.html?ws=ws://192.168.1.20:8765/ws/sensing
+```
+
+### 3. Use it
+
+1. **CAPTURE** tab → *enable laptop camera* → *start recording*. Follow the guided
+   routine (stand / turn / walk / arms / crouch / sit). A pair is stored only when
+   a confident pose AND a fresh live `esp32` CSI frame coexist. Aim for a few
+   thousand samples. Samples persist in IndexedDB across refreshes.
+2. **TRAIN** tab → *train model*. Watch the live loss curve, held-out PCK, and the
+   baseline verdict. The model saves to IndexedDB.
+3. **INFER** tab → the green skeleton is now driven by WiFi CSI only, aligned over
+   your camera. Toggle *hide camera* to see the CSI-only skeleton on black.
+
+## The 410-d CSI vector (matches the Python pipeline exactly)
+
+```
+[ mean_rssi, variance, motion_band_power, breathing_band_power ]   # 4  (features.*)
++ for node 9 then node 13: [ mean_rssi, variance, motion_band_power ]  # 6 (node_features[].features.*)
++ signal_field.values, padded / truncated to 400                  # 400
+= 410-d
+```
+
+Verified against a real live frame: the in-browser `csiVector()` produces the
+identical 410 vector as `wiflow_capture.py`'s `csi_vector()` (node 9 first, then
+node 13; field zero-padded).
+
+## Libraries (CDN only, no bundler)
+
+| Library | CDN |
+|---|---|
+| TensorFlow.js core | `@tensorflow/tfjs@4.22.0/dist/tf.min.js` |
+| TF.js WebGPU backend | `@tensorflow/tfjs-backend-webgpu@4.22.0/dist/tf-backend-webgpu.min.js` |
+| TF.js WASM backend | `@tensorflow/tfjs-backend-wasm@4.22.0/dist/tf-backend-wasm.min.js` |
+| MediaPipe Pose 0.5 (legacy solutions) | `@mediapipe/pose@0.5/pose.js` |
+
+## Scope / honesty caveats
+
+Same person, same room, same session. **Not** validated cross-day, cross-room, or
+through-wall. The inferred pose is coarse (PCK@0.05 is typically weak). If the
+model does not beat the mean-pose baseline, the page says so — that is a feature.

examples/through-wall/index.html

@@ -0,0 +1,644 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>RuView · Through-Wall WiFi Sensing · LIVE CSI (no skeleton, no simulation)</title>
+    <!--
+      THROUGH-WALL WiFi-CSI SENSING DEMO  —  honest, real-data-only.
+
+      Renders ONLY what the running sensing-server actually streams over
+      ws://localhost:8765/ws/sensing :
+        - the 20x20 `signal_field` floor heatmap (real values)
+        - a coarse RF-localization puck from persons[0].position (NOT pose)
+        - live motion / presence / rssi / confidence meters
+        - the real `source` ("esp32" = LIVE) verbatim in the banner
+
+      It deliberately does NOT draw a skeleton. The server's
+      persons[].keypoints carry confidence:0.0 (image-pixel garbage, not
+      real 3D joints) so we never render them. WiFi CSI gives
+      motion/presence/coarse-position — that is the honest wow, and it
+      penetrates drywall. See README.md.
+    -->
+    <style>
+        :root {
+            --bg: #050507; --bg-panel: rgba(8,10,14,0.80);
+            --amber: #ffb840; --amber-hot: #ffe09f;
+            --cyan: #4cf; --magenta: #ff4cc8;
+            --text: #d8c69a; --text-mute: #6b6155;
+            --green: #4f4; --red: #f64;
+            --border: rgba(255,184,64,0.18);
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
+            font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
+            -webkit-font-smoothing: antialiased; font-size: 12px;
+        }
+        canvas { display: block; }
+        .overlay-frame {
+            position: fixed; inset: 0; pointer-events: none; z-index: 5;
+            background:
+                radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
+                linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
+        }
+        .scanlines {
+            position: fixed; inset: 0; pointer-events: none; z-index: 6;
+            background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
+            mix-blend-mode: overlay; opacity: 0.5;
+        }
+        .panel {
+            position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
+            box-shadow: 0 1px 0 rgba(255,184,64,0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
+        }
+        .panel h2 {
+            margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
+        }
+
+        /* ---- Honest status banner (top-center, mutually exclusive states) ---- */
+        #banner {
+            position: fixed; top: 0; left: 0; right: 0; z-index: 30;
+            text-align: center; padding: 7px 12px; font-size: 12px; letter-spacing: 1px;
+            font-weight: 600; border-bottom: 1px solid rgba(0,0,0,0.4);
+            transition: background 0.3s, color 0.3s;
+        }
+        #banner.live  { background: rgba(40,255,80,0.12); color: var(--green); border-bottom-color: rgba(80,255,120,0.4); }
+        #banner.sim   { background: rgba(255,120,40,0.16); color: #ffae5a; border-bottom-color: rgba(255,140,60,0.5); }
+        #banner.noserver { background: rgba(255,80,80,0.16); color: var(--red); border-bottom-color: rgba(255,90,90,0.5); }
+        #banner .src { opacity: 0.8; font-weight: 400; }
+        #banner-caption {
+            position: fixed; top: 30px; left: 0; right: 0; z-index: 29;
+            text-align: center; font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px;
+            pointer-events: none; padding-top: 2px;
+        }
+
+        #info { top: 64px; left: 20px; min-width: 270px; }
+        #info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
+        #info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+        #info .row .k { color: var(--text-mute); font-size: 11px; }
+        #info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
+        #info .row .v.amber { color: var(--amber); }
+        #info .row .v.cyan  { color: var(--cyan); }
+        #info .row .v.green { color: var(--green); }
+        #info .row .v.red   { color: var(--red); }
+        #info .row .v.mag   { color: var(--magenta); }
+        #info .row .v.mute  { color: var(--text-mute); }
+
+        #csi { top: 64px; right: 20px; min-width: 270px; }
+        #csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #csi .bar-row .label { width: 86px; color: var(--text-mute); }
+        #csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
+        #csi .bar-row .bar-fill {
+            height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
+            box-shadow: 0 0 6px var(--amber); transition: width 0.1s linear;
+        }
+        #csi .bar-row .val { width: 44px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+        #csi .spark { margin-top: 8px; }
+        #csi canvas { width: 100%; height: 38px; display: block; border: 1px solid var(--border); border-radius: 3px; background: rgba(0,0,0,0.3); }
+        #csi .legend { margin-top: 8px; padding-top: 8px; border-top: 1px solid var(--border); font-size: 10px; color: var(--text-mute); line-height: 1.5; }
+
+        /* ---- waiting / no-server overlay ---- */
+        #waiting {
+            position: fixed; inset: 0; z-index: 25; display: none;
+            flex-direction: column; align-items: center; justify-content: center;
+            background: rgba(5,5,7,0.94); color: var(--amber); text-align: center; padding: 24px;
+        }
+        #waiting.show { display: flex; }
+        #waiting .big { font-size: 22px; letter-spacing: 2px; color: var(--red); margin-bottom: 16px; text-transform: uppercase; }
+        #waiting code {
+            display: block; text-align: left; max-width: 640px; margin: 8px auto;
+            background: rgba(255,184,64,0.06); border: 1px solid var(--border); border-radius: 4px;
+            padding: 10px 14px; color: var(--amber-hot); font-size: 12px; white-space: pre-wrap;
+        }
+        #waiting .pulse { animation: pulse 1.4s ease-in-out infinite; }
+        @keyframes pulse { 0%,100% { opacity: 0.55; } 50% { opacity: 1; } }
+
+        /* ---- optional webcam ground-truth tile ---- */
+        #cam-tile {
+            position: absolute; bottom: 20px; right: 20px; width: 240px; z-index: 12;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 8px; backdrop-filter: blur(8px);
+        }
+        #cam-tile h2 { margin: 0 0 6px 0; font-size: 9px; text-transform: uppercase; letter-spacing: 1.5px;
+            color: var(--cyan); font-weight: 600; }
+        #cam-tile .gt-note { font-size: 9px; color: var(--text-mute); margin-top: 4px; line-height: 1.4; }
+        #cam-video { width: 100%; border-radius: 3px; display: none; background: #000; }
+        #cam-tile button {
+            width: 100%; margin-top: 6px; padding: 5px 8px; font-family: inherit; font-size: 11px;
+            background: transparent; color: var(--cyan); border: 1px solid var(--cyan); border-radius: 3px; cursor: pointer;
+        }
+        #cam-tile button:hover { background: rgba(68,204,255,0.12); }
+        #cam-tile button:disabled { opacity: 0.5; cursor: not-allowed; }
+
+        #legend-nodes {
+            position: absolute; bottom: 20px; left: 20px; min-width: 220px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #legend-nodes h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #legend-nodes .lr { display: flex; align-items: center; gap: 8px; padding: 2px 0; font-size: 11px; }
+        #legend-nodes .dot { width: 9px; height: 9px; border-radius: 50%; box-shadow: 0 0 6px currentColor; flex: 0 0 auto; }
+        #legend-nodes .muted { color: var(--text-mute); }
+    </style>
+
+    <!-- three.js r128 + addons (same CDN set as examples/three.js/demos/05) -->
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
+</head>
+<body>
+    <div id="banner" class="noserver">NO SERVER — start the sensing-server <span class="src"></span></div>
+    <div id="banner-caption">Real WiFi CSI motion / presence / coarse-localization — penetrates drywall. Not skeletal pose.</div>
+
+    <div class="overlay-frame"></div>
+    <div class="scanlines"></div>
+
+    <div class="panel" id="info">
+        <h1>THROUGH-WALL WiFi SENSING</h1>
+        <div class="sub">Live CSI · ws://localhost:8765/ws/sensing</div>
+        <div class="row"><span class="k">source</span><span class="v amber" id="m-source">—</span></div>
+        <div class="row"><span class="k">presence</span><span class="v" id="m-presence">—</span></div>
+        <div class="row"><span class="k">motion level</span><span class="v" id="m-motion">—</span></div>
+        <div class="row"><span class="k">confidence</span><span class="v cyan" id="m-conf">—</span></div>
+        <div class="row"><span class="k">est. persons</span><span class="v amber" id="m-persons">—</span></div>
+        <div class="row"><span class="k">active nodes</span><span class="v" id="m-nodes">—</span></div>
+        <div class="row"><span class="k">tick</span><span class="v" id="m-tick">—</span></div>
+        <div class="row"><span class="k">update rate</span><span class="v cyan" id="m-fps">—</span></div>
+    </div>
+
+    <div class="panel" id="csi">
+        <h2>Live RF features</h2>
+        <div class="bar-row"><span class="label">motion</span><div class="bar-track"><div class="bar-fill" id="bar-motion"></div></div><span class="val" id="v-motion">—</span></div>
+        <div class="bar-row"><span class="label">breathing</span><div class="bar-track"><div class="bar-fill" id="bar-breath"></div></div><span class="val" id="v-breath">—</span></div>
+        <div class="bar-row"><span class="label">variance</span><div class="bar-track"><div class="bar-fill" id="bar-var"></div></div><span class="val" id="v-var">—</span></div>
+        <div class="bar-row"><span class="label">mean rssi</span><div class="bar-track"><div class="bar-fill" id="bar-rssi"></div></div><span class="val" id="v-rssi">—</span></div>
+        <div class="spark"><canvas id="spark" width="252" height="38"></canvas></div>
+        <div class="legend">motion sparkline (last ~6s of real motion_band_power)</div>
+    </div>
+
+    <div id="legend-nodes">
+        <h2>Sensor nodes</h2>
+        <div class="lr"><span class="dot" style="color:#4cf"></span><span>ESP32-S3 office <span class="muted">(node 9)</span></span></div>
+        <div class="lr"><span class="dot" style="color:#ff4cc8"></span><span>ESP32-S3 hallway <span class="muted">(node 13)</span></span></div>
+        <div class="lr" style="margin-top:6px"><span class="dot" style="color:#4f4"></span><span>RF localization <span class="muted">(coarse)</span></span></div>
+        <div class="lr"><span class="muted" style="font-size:10px;line-height:1.4">Office &amp; hallway split by a wall + doorway. WiFi motion still shows through drywall.</span></div>
+    </div>
+
+    <div id="cam-tile">
+        <h2>camera — ground truth when visible</h2>
+        <video id="cam-video" autoplay muted playsinline></video>
+        <button id="cam-btn">▶ enable webcam (optional)</button>
+        <div class="gt-note">Independent of the CSI sensing. The WiFi works in the dark and through walls; the camera does not.</div>
+    </div>
+
+    <div id="waiting" class="show">
+        <div class="big pulse">Waiting for live sensing-server</div>
+        <div>No connection to <b>ws://localhost:8765/ws/sensing</b>. Start the real server, then this page connects automatically.</div>
+        <code>cd v2
+cargo build -p wifi-densepose-sensing-server
+./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005</code>
+        <div style="margin-top:10px; color:var(--text-mute); font-size:11px;">This demo renders ONLY real data. It never invents frames.</div>
+    </div>
+
+<script>
+"use strict";
+// =====================================================================
+//  Config + WS endpoint (allow ?ws= override)
+// =====================================================================
+const params   = new URLSearchParams(location.search);
+const WS_URL   = params.get('ws') || 'ws://localhost:8765/ws/sensing';
+const ROOM_HALF = 5;             // half-extent of the floor plane in metres
+const GRID_N    = 20;            // signal_field is 20 x 20
+
+// Known node anchor positions (server sends node 9 @ [2,0,1.5]; node 13
+// joins later from the hallway side once its firmware is flashed). These
+// are anchors for the room model + labels, NOT fabricated sensing data.
+const NODE_ANCHORS = {
+    9:  { pos: [ 2.0, 0.0,  1.5], color: 0x44ccff, label: 'office (node 9)' },
+    13: { pos: [-2.0, 0.0, -3.0], color: 0xff4cc8, label: 'hallway (node 13)' },
+};
+
+// =====================================================================
+//  Three.js scene (reused pattern from demos/05-skinned-realtime.html)
+// =====================================================================
+const scene = new THREE.Scene();
+scene.background = new THREE.Color(0x050507);
+scene.fog = new THREE.FogExp2(0x050507, 0.045);
+
+const camera = new THREE.PerspectiveCamera(50, window.innerWidth/window.innerHeight, 0.05, 100);
+camera.position.set(4.5, 4.2, 6.0);
+
+const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
+renderer.setSize(window.innerWidth, window.innerHeight);
+renderer.toneMapping = THREE.ACESFilmicToneMapping;
+renderer.toneMappingExposure = 0.85;
+renderer.outputEncoding = THREE.sRGBEncoding;
+document.body.appendChild(renderer.domElement);
+
+const controls = new THREE.OrbitControls(camera, renderer.domElement);
+controls.target.set(0, 0.4, -0.5);
+controls.enableDamping = true; controls.dampingFactor = 0.06;
+controls.minDistance = 3; controls.maxDistance = 18;
+controls.maxPolarAngle = Math.PI * 0.49;
+
+scene.add(new THREE.HemisphereLight(0x553a18, 0x080606, 0.7));
+const keyLight = new THREE.DirectionalLight(0xffc070, 0.9);
+keyLight.position.set(3, 6, 4);
+scene.add(keyLight);
+
+// Post-processing — gentle bloom so the heatmap + puck glow.
+const composer = new THREE.EffectComposer(renderer);
+composer.addPass(new THREE.RenderPass(scene, camera));
+const bloom = new THREE.UnrealBloomPass(
+    new THREE.Vector2(window.innerWidth, window.innerHeight), 0.55, 0.45, 0.82);
+composer.addPass(bloom);
+
+// =====================================================================
+//  Room: floor grid + wall + doorway dividing office / hallway
+// =====================================================================
+const gridHelper = new THREE.GridHelper(2*ROOM_HALF, GRID_N, 0x554a32, 0x2a2418);
+gridHelper.position.y = 0.002;
+scene.add(gridHelper);
+
+// Dividing wall runs along world X near z = -1 (office z>-1, hallway z<-1),
+// with a doorway gap. Two wall segments leave a gap in the middle.
+const wallMat = new THREE.MeshStandardMaterial({
+    color: 0x1b2330, transparent: true, opacity: 0.55, roughness: 0.9,
+    side: THREE.DoubleSide,
+});
+const wallH = 1.4, wallZ = -1.0;
+function addWallSeg(cx, w) {
+    const m = new THREE.Mesh(new THREE.BoxGeometry(w, wallH, 0.08), wallMat);
+    m.position.set(cx, wallH/2, wallZ);
+    scene.add(m);
+    // top edge highlight
+    const edge = new THREE.Mesh(new THREE.BoxGeometry(w, 0.02, 0.10),
+        new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0.5 }));
+    edge.position.set(cx, wallH, wallZ);
+    scene.add(edge);
+}
+// left segment, doorway gap (-0.7..0.7), right segment
+addWallSeg(-3.15, 3.7);
+addWallSeg( 3.15, 3.7);
+
+// Room labels (sprite text) for OFFICE / HALLWAY
+function makeLabel(text, color) {
+    const c = document.createElement('canvas'); c.width = 256; c.height = 64;
+    const ctx = c.getContext('2d');
+    ctx.fillStyle = color; ctx.font = 'bold 30px Consolas, monospace';
+    ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
+    ctx.fillText(text, 128, 34);
+    const tex = new THREE.CanvasTexture(c);
+    const spr = new THREE.Sprite(new THREE.SpriteMaterial({ map: tex, transparent: true, depthTest: false }));
+    spr.scale.set(2.0, 0.5, 1);
+    return spr;
+}
+const officeLbl = makeLabel('OFFICE', '#ffb840');  officeLbl.position.set(2.6, 0.06, 2.6); scene.add(officeLbl);
+const hallLbl   = makeLabel('HALLWAY', '#ff4cc8'); hallLbl.position.set(-2.6, 0.06, -3.2); scene.add(hallLbl);
+
+// =====================================================================
+//  Node markers (office / hallway). The hallway node is dimmed until it
+//  actually appears in the live `nodes` list.
+// =====================================================================
+const nodeMeshes = {};
+function buildNode(id) {
+    const a = NODE_ANCHORS[id];
+    const g = new THREE.Group();
+    const post = new THREE.Mesh(
+        new THREE.CylinderGeometry(0.05, 0.07, 0.9, 12),
+        new THREE.MeshStandardMaterial({ color: a.color, emissive: a.color, emissiveIntensity: 0.4, roughness: 0.4 }));
+    post.position.y = 0.45; g.add(post);
+    const orb = new THREE.Mesh(
+        new THREE.SphereGeometry(0.12, 20, 16),
+        new THREE.MeshBasicMaterial({ color: a.color }));
+    orb.position.y = 0.95; g.add(orb);
+    const ring = new THREE.Mesh(
+        new THREE.RingGeometry(0.18, 0.24, 32),
+        new THREE.MeshBasicMaterial({ color: a.color, transparent: true, opacity: 0.6, side: THREE.DoubleSide }));
+    ring.rotation.x = -Math.PI/2; ring.position.y = 0.01; g.add(ring);
+    const lbl = makeLabel('ESP32-S3 ' + a.label, '#' + a.color.toString(16).padStart(6,'0'));
+    lbl.scale.set(2.6, 0.65, 1); lbl.position.set(0, 1.25, 0); g.add(lbl);
+    g.position.set(a.pos[0], 0, a.pos[2]);
+    g.userData.parts = { post, orb, ring };
+    scene.add(g);
+    return g;
+}
+Object.keys(NODE_ANCHORS).forEach(id => { nodeMeshes[id] = buildNode(+id); });
+function setNodeActive(id, active) {
+    const g = nodeMeshes[id]; if (!g) return;
+    const o = active ? 1.0 : 0.22;
+    const parts = g.userData.parts;
+    parts.orb.material.opacity = o; parts.orb.material.transparent = true;
+    parts.ring.material.opacity = 0.6 * o;
+    parts.post.material.emissiveIntensity = active ? 0.5 : 0.12;
+}
+setNodeActive(9, false); setNodeActive(13, false);
+
+// =====================================================================
+//  signal_field 20x20 floor heatmap — instanced colored tiles.
+//  Driven ONLY by real `signal_field.values` (400 floats ~0..1).
+// =====================================================================
+const TILE = (2*ROOM_HALF) / GRID_N;
+const heatGeo = new THREE.PlaneGeometry(TILE * 0.96, TILE * 0.96);
+const heatMat = new THREE.MeshBasicMaterial({ vertexColors: true, transparent: true, opacity: 0.85, side: THREE.DoubleSide });
+const heatMesh = new THREE.InstancedMesh(heatGeo, heatMat, GRID_N * GRID_N);
+heatMesh.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
+const heatColor = new THREE.InstancedBufferAttribute(new Float32Array(GRID_N * GRID_N * 3), 3);
+heatMesh.instanceColor = heatColor;
+const _m = new THREE.Matrix4();
+const _q = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1,0,0), -Math.PI/2);
+const _s = new THREE.Vector3(1,1,1);
+const _p = new THREE.Vector3();
+// gridCell (gx,gz) -> world (x,z). gx,gz in [0,GRID_N).
+function cellToWorld(gx, gz) {
+    return [ (gx + 0.5) * TILE - ROOM_HALF, (gz + 0.5) * TILE - ROOM_HALF ];
+}
+for (let gz = 0; gz < GRID_N; gz++) {
+    for (let gx = 0; gx < GRID_N; gx++) {
+        const i = gz * GRID_N + gx;
+        const [wx, wz] = cellToWorld(gx, gz);
+        _p.set(wx, 0.012, wz);
+        _m.compose(_p, _q, _s);
+        heatMesh.setMatrixAt(i, _m);
+        heatColor.setXYZ(i, 0.02, 0.02, 0.03);
+    }
+}
+heatMesh.instanceMatrix.needsUpdate = true;
+scene.add(heatMesh);
+
+// amber→white heat ramp for a value in [0,1]
+function heatRamp(v, out) {
+    v = Math.max(0, Math.min(1, v));
+    // dark -> amber -> hot white
+    const r = Math.min(1, 0.05 + 1.6 * v);
+    const g = Math.min(1, 0.02 + 1.1 * v * v);
+    const b = Math.min(1, 0.04 + 0.9 * Math.pow(v, 3));
+    out.set(r, g, b);
+    return out;
+}
+const _c = new THREE.Color();
+let lastFieldPeak = { gx: GRID_N/2|0, gz: GRID_N/2|0, v: 0 };
+function updateHeatmap(field) {
+    if (!field || !Array.isArray(field.values)) return;
+    const vals = field.values;
+    // grid_size is [20,1,20]; values are row-major 400 floats.
+    let peakV = -1, peakGx = lastFieldPeak.gx, peakGz = lastFieldPeak.gz;
+    const n = Math.min(vals.length, GRID_N * GRID_N);
+    for (let i = 0; i < n; i++) {
+        const v = vals[i];
+        heatRamp(v, _c);
+        heatColor.setXYZ(i, _c.r, _c.g, _c.b);
+        if (v > peakV) { peakV = v; peakGx = i % GRID_N; peakGz = (i / GRID_N) | 0; }
+    }
+    heatColor.needsUpdate = true;
+    lastFieldPeak = { gx: peakGx, gz: peakGz, v: peakV };
+}
+
+// =====================================================================
+//  RF-localization puck — from persons[0].position (coarse, NOT pose).
+//  Falls back to the signal_field peak cell when no person is present.
+// =====================================================================
+const puck = new THREE.Group();
+const puckCore = new THREE.Mesh(
+    new THREE.SphereGeometry(0.16, 24, 18),
+    new THREE.MeshBasicMaterial({ color: 0x66ff88 }));
+puckCore.position.y = 0.16; puck.add(puckCore);
+const puckRing = new THREE.Mesh(
+    new THREE.RingGeometry(0.28, 0.36, 40),
+    new THREE.MeshBasicMaterial({ color: 0x66ff88, transparent: true, opacity: 0.7, side: THREE.DoubleSide }));
+puckRing.rotation.x = -Math.PI/2; puckRing.position.y = 0.02; puck.add(puckRing);
+const puckBeam = new THREE.Mesh(
+    new THREE.CylinderGeometry(0.03, 0.03, 1.2, 8),
+    new THREE.MeshBasicMaterial({ color: 0x66ff88, transparent: true, opacity: 0.35 }));
+puckBeam.position.y = 0.6; puck.add(puckBeam);
+puck.visible = false;
+scene.add(puck);
+const puckTarget = new THREE.Vector3(0, 0, 0);
+
+function updatePuck(frame) {
+    let wx = null, wz = null, present = false;
+    const persons = frame.persons || [];
+    if (persons.length && Array.isArray(persons[0].position)) {
+        // server position is [x, 0, z] in metres, origin at room centre
+        wx = persons[0].position[0];
+        wz = persons[0].position[2];
+        present = true;
+    }
+    // If no person but the field has clear energy, show the peak cell
+    // (coarse) so the puck honestly tracks "where the RF energy is".
+    if (!present && lastFieldPeak.v > 0.55) {
+        const peak = cellToWorld(lastFieldPeak.gx, lastFieldPeak.gz);
+        wx = peak[0]; wz = peak[1]; present = true;
+    }
+    if (present && wx !== null) {
+        // clamp into the room so it never flies off the floor
+        wx = Math.max(-ROOM_HALF+0.3, Math.min(ROOM_HALF-0.3, wx));
+        wz = Math.max(-ROOM_HALF+0.3, Math.min(ROOM_HALF-0.3, wz));
+        puckTarget.set(wx, 0, wz);
+        puck.visible = true;
+    } else {
+        puck.visible = false;
+    }
+}
+
+// =====================================================================
+//  HUD updates
+// =====================================================================
+const $ = id => document.getElementById(id);
+function clamp01(x){ return Math.max(0, Math.min(1, x)); }
+function setBar(barId, valId, frac, text) {
+    $(barId).style.width = (clamp01(frac) * 100).toFixed(0) + '%';
+    $(valId).textContent = text;
+}
+
+// motion sparkline ring buffer
+const sparkCtx = $('spark').getContext('2d');
+const SPARK_N = 120;
+const sparkBuf = new Array(SPARK_N).fill(0);
+function pushSpark(v) {
+    sparkBuf.push(v); if (sparkBuf.length > SPARK_N) sparkBuf.shift();
+    const w = sparkCtx.canvas.width, h = sparkCtx.canvas.height;
+    sparkCtx.clearRect(0,0,w,h);
+    let maxV = 40; for (const x of sparkBuf) if (x > maxV) maxV = x;
+    sparkCtx.strokeStyle = '#ffb840'; sparkCtx.lineWidth = 1.5; sparkCtx.beginPath();
+    for (let i = 0; i < sparkBuf.length; i++) {
+        const x = (i / (SPARK_N-1)) * w;
+        const y = h - (sparkBuf[i] / maxV) * (h - 3) - 1.5;
+        i === 0 ? sparkCtx.moveTo(x, y) : sparkCtx.lineTo(x, y);
+    }
+    sparkCtx.stroke();
+}
+
+// =====================================================================
+//  Honest status banner (strict, mutually exclusive)
+// =====================================================================
+const banner = $('banner');
+function setBannerLive(source, nodeCount) {
+    if (source === 'esp32') {
+        banner.className = 'live';
+        banner.innerHTML = 'LIVE — real ESP32 CSI <span class="src">(source=' + source + ', ' + nodeCount + ' node' + (nodeCount === 1 ? '' : 's') + ')</span>';
+    } else {
+        // anything not esp32 = explicitly NOT real, badged
+        banner.className = 'sim';
+        banner.innerHTML = 'SIMULATED — not real <span class="src">(source=' + source + ' — start an ESP32 for live CSI)</span>';
+    }
+}
+function setBannerNoServer() {
+    banner.className = 'noserver';
+    banner.innerHTML = 'NO SERVER — start the sensing-server <span class="src">(ws://localhost:8765/ws/sensing unreachable)</span>';
+}
+
+// =====================================================================
+//  WebSocket — render ONLY real frames. Reconnect; never fabricate.
+// =====================================================================
+let ws = null, gotFrame = false;
+let frameTimes = [];          // for measured update rate (fps)
+let lastFrame = null;         // most recent real frame (render loop interpolates puck)
+
+function connect() {
+    setBannerNoServer();
+    try { ws = new WebSocket(WS_URL); }
+    catch (e) { scheduleReconnect(); return; }
+
+    ws.onopen = () => { /* wait for first frame before claiming LIVE */ };
+    ws.onmessage = (ev) => {
+        let d; try { d = JSON.parse(ev.data); } catch (e) { return; }
+        if (!d || d.type !== 'sensing_update') return;
+        onFrame(d);
+    };
+    ws.onclose = () => { gotFrame = false; $('waiting').classList.add('show'); setBannerNoServer(); scheduleReconnect(); };
+    ws.onerror = () => { try { ws.close(); } catch (e) {} };
+}
+let reconnectT = null;
+function scheduleReconnect() {
+    if (reconnectT) return;
+    reconnectT = setTimeout(() => { reconnectT = null; connect(); }, 1500);
+}
+
+function onFrame(d) {
+    gotFrame = true;
+    lastFrame = d;
+    $('waiting').classList.remove('show');
+
+    const source = d.source || 'unknown';
+    const nodes  = Array.isArray(d.nodes) ? d.nodes : [];
+    setBannerLive(source, nodes.length);
+
+    // measured update rate
+    const now = performance.now();
+    frameTimes.push(now);
+    while (frameTimes.length && now - frameTimes[0] > 2000) frameTimes.shift();
+    const fps = frameTimes.length > 1 ? (frameTimes.length - 1) / ((frameTimes[frameTimes.length-1] - frameTimes[0]) / 1000) : 0;
+
+    const cls  = d.classification || {};
+    const feat = d.features || {};
+
+    // info panel
+    $('m-source').textContent  = source.toUpperCase();
+    $('m-source').className     = 'v ' + (source === 'esp32' ? 'green' : 'red');
+    const presence = !!cls.presence;
+    $('m-presence').textContent = presence ? (cls.motion_level === 'present_moving' ? 'PRESENT · MOVING' : 'PRESENT') : 'CLEAR';
+    $('m-presence').className    = 'v ' + (presence ? 'green' : 'mute');
+    $('m-motion').textContent   = cls.motion_level || '—';
+    $('m-conf').textContent     = (cls.confidence != null) ? cls.confidence.toFixed(2) : '—';
+    $('m-persons').textContent  = (d.estimated_persons != null) ? d.estimated_persons : '—';
+    $('m-nodes').textContent    = nodes.length + ' (' + nodes.map(n => n.node_id).join(', ') + ')';
+    $('m-tick').textContent     = (d.tick != null) ? d.tick : '—';
+    $('m-fps').textContent      = fps ? fps.toFixed(1) + ' Hz' : '—';
+
+    // feature bars (real values, scaled into 0..1 for the bar width only)
+    const motion = feat.motion_band_power || 0;
+    const breath = feat.breathing_band_power || 0;
+    const variance = feat.variance || 0;
+    const rssi = feat.mean_rssi != null ? feat.mean_rssi : -100;
+    setBar('bar-motion', 'v-motion', motion / 100,  motion.toFixed(1));
+    setBar('bar-breath', 'v-breath', breath / 100,  breath.toFixed(1));
+    setBar('bar-var',    'v-var',    variance / 80,  variance.toFixed(1));
+    // rssi: map -90..-30 dBm -> 0..1
+    setBar('bar-rssi',   'v-rssi',   (rssi + 90) / 60, rssi.toFixed(0));
+    pushSpark(motion);
+
+    // node activity
+    const activeIds = new Set(nodes.map(n => n.node_id));
+    [9, 13].forEach(id => setNodeActive(id, activeIds.has(id)));
+
+    // heatmap + puck
+    updateHeatmap(d.signal_field);
+    updatePuck(d);
+}
+
+// =====================================================================
+//  Optional webcam ground-truth tile (reused from demos/05). Camera is
+//  separate from CSI sensing — labeled "ground truth when visible".
+// =====================================================================
+let camStream = null;
+$('cam-btn').addEventListener('click', async () => {
+    const btn = $('cam-btn');
+    if (camStream) {  // toggle off
+        camStream.getTracks().forEach(t => t.stop());
+        $('cam-video').style.display = 'none'; camStream = null;
+        btn.textContent = '▶ enable webcam (optional)';
+        return;
+    }
+    btn.disabled = true; btn.textContent = 'requesting camera…';
+    try {
+        camStream = await navigator.mediaDevices.getUserMedia({
+            video: { width: { ideal: 640 }, height: { ideal: 480 }, facingMode: 'user' }, audio: false,
+        });
+        const v = $('cam-video'); v.srcObject = camStream; v.style.display = 'block';
+        btn.textContent = '■ stop webcam'; btn.disabled = false;
+    } catch (e) {
+        btn.textContent = '✗ camera unavailable'; btn.disabled = false; console.error(e);
+        setTimeout(() => { if (!camStream) btn.textContent = '▶ enable webcam (optional)'; }, 2000);
+    }
+});
+
+// =====================================================================
+//  Render loop — smooth the puck toward its real target; pulse rings.
+// =====================================================================
+const clock = new THREE.Clock();
+function animate() {
+    requestAnimationFrame(animate);
+    const t = clock.getElapsedTime();
+    controls.update();
+
+    if (puck.visible) {
+        puck.position.lerp(puckTarget, 0.18);
+        const pulse = 0.8 + 0.25 * Math.sin(t * 3.0);
+        puckRing.scale.set(pulse, pulse, pulse);
+        puckRing.material.opacity = 0.5 + 0.25 * Math.sin(t * 3.0);
+    }
+    // node rings breathe when active
+    [9,13].forEach(id => {
+        const g = nodeMeshes[id]; if (!g) return;
+        const r = g.userData.parts.ring;
+        const s = 1 + 0.08 * Math.sin(t * 2 + id);
+        r.scale.set(s, s, s);
+    });
+
+    composer.render();
+}
+animate();
+
+window.addEventListener('resize', () => {
+    camera.aspect = window.innerWidth / window.innerHeight;
+    camera.updateProjectionMatrix();
+    renderer.setSize(window.innerWidth, window.innerHeight);
+    composer.setSize(window.innerWidth, window.innerHeight);
+});
+
+// kick off
+connect();
+</script>
+</body>
+</html>

examples/through-wall/pose.html

@@ -0,0 +1,159 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="UTF-8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1.0"/>
+<title>WiFlow · live WiFi-inferred pose</title>
+<style>
+  :root{--bg:#0a0c10;--panel:#11151c;--amber:#ffb840;--green:#46e08a;--red:#ff5a5a;--mute:#7d8796;--line:#1d2430}
+  *{box-sizing:border-box}
+  body{margin:0;background:var(--bg);color:#dfe6ee;font:14px/1.5 'JetBrains Mono',ui-monospace,Menlo,monospace}
+  header{padding:14px 18px;border-bottom:1px solid var(--line);display:flex;align-items:center;gap:14px;flex-wrap:wrap}
+  h1{font-size:15px;margin:0;letter-spacing:1px;text-transform:uppercase;font-weight:600}
+  h1 span{color:var(--amber)}
+  #banner{margin-left:auto;padding:5px 12px;border-radius:5px;font-weight:600;font-size:12px;letter-spacing:.5px}
+  .live{background:rgba(70,224,138,.15);color:var(--green);border:1px solid var(--green)}
+  .sim{background:rgba(255,184,64,.15);color:var(--amber);border:1px solid var(--amber)}
+  .down{background:rgba(255,90,90,.15);color:var(--red);border:1px solid var(--red)}
+  main{display:flex;gap:18px;padding:18px;flex-wrap:wrap}
+  .card{background:var(--panel);border:1px solid var(--line);border-radius:10px;padding:14px}
+  canvas{background:#070a0e;border-radius:8px;display:block}
+  .label{font-size:11px;text-transform:uppercase;letter-spacing:1.5px;color:var(--mute);margin-bottom:8px}
+  .stats{min-width:240px}
+  .row{display:flex;justify-content:space-between;padding:3px 0;border-bottom:1px dashed var(--line)}
+  .row .k{color:var(--mute)} .row .v{color:var(--amber);font-variant-numeric:tabular-nums}
+  .v.green{color:var(--green)}
+  .note{margin-top:12px;font-size:11px;color:var(--mute);line-height:1.6;max-width:300px}
+  .note b{color:#dfe6ee}
+</style>
+</head>
+<body>
+<header>
+  <h1>WiFlow · <span>live WiFi-inferred pose</span></h1>
+  <div id="banner" class="down">CONNECTING…</div>
+</header>
+<main>
+  <div class="card">
+    <div class="label">CSI → pose (skeleton) overlaid on your laptop camera</div>
+    <div id="stage" style="width:420px;height:560px;border-radius:8px;overflow:hidden;background:#070a0e">
+      <video id="cam" autoplay muted playsinline style="position:absolute;width:2px;height:2px;opacity:0;pointer-events:none"></video>
+      <canvas id="cv" width="420" height="560"></canvas>
+    </div>
+    <div style="margin-top:10px;display:flex;gap:8px;align-items:center;flex-wrap:wrap">
+      <button id="camBtn" style="background:var(--amber);color:#0a0c10;border:0;border-radius:6px;padding:7px 14px;font:inherit;font-weight:600;cursor:pointer">enable laptop camera</button>
+      <select id="camSel" style="display:none;background:var(--panel);color:#dfe6ee;border:1px solid var(--line);border-radius:6px;padding:6px;font:inherit;max-width:220px"></select>
+    </div>
+    <div id="camStatus" style="margin-top:6px;font-size:11px;color:var(--mute)">camera: off</div>
+    <div class="note" style="margin-top:8px">Camera is a <b>visual reference only</b> — it is NOT fed to the model. Overlay alignment is approximate (model trained in a different camera's frame).</div>
+  </div>
+  <div class="card stats">
+    <div class="label">live</div>
+    <div class="row"><span class="k">CSI source</span><span class="v" id="src">—</span></div>
+    <div class="row"><span class="k">nodes</span><span class="v" id="nodes">—</span></div>
+    <div class="row"><span class="k">presence</span><span class="v" id="pres">—</span></div>
+    <div class="row"><span class="k">motion</span><span class="v" id="motion">—</span></div>
+    <div class="row"><span class="k">pose fps</span><span class="v" id="fps">—</span></div>
+    <div class="note">
+      This skeleton is inferred <b>from WiFi CSI only</b> — no camera in the loop here. A model was
+      trained on paired (camera-pose, CSI) data in this room (ADR-079/180).
+      <br/><br/>
+      <b>Honest accuracy:</b> ~<b>59.5% PCK@0.10</b> on held-out data (vs a 50% mean-pose baseline →
+      <b>+9.4 pp real signal</b>). It captures <b>coarse</b> pose; fine detail is weak (PCK@0.05 ≈ 24%).
+      Same person / room / session — not validated cross-day or through-wall.
+    </div>
+  </div>
+</main>
+<script>
+const POSE_WS = (new URLSearchParams(location.search)).get('ws') || `ws://${location.hostname||'localhost'}:8770/pose`;
+const cv = document.getElementById('cv'), ctx = cv.getContext('2d');
+const $ = id => document.getElementById(id);
+let edges = [[5,7],[7,9],[6,8],[8,10],[5,6],[11,12],[5,11],[6,12],[11,13],[13,15],[12,14],[14,16],[0,1],[0,2],[1,3],[2,4],[0,5],[0,6]];
+let last = null, frames = 0, t0 = performance.now();
+
+function banner(state, txt){ const b=$('banner'); b.className=state; b.textContent=txt; }
+
+// per-joint smoothing (EMA) so dropped/jittery CSI frames render fluidly (ADR-180 dead-reckoning, lite)
+let sm = null;
+function smooth(kps){
+  if(!sm){ sm = kps.map(p=>[p[0],p[1]]); return sm; }
+  const a=0.35; for(let i=0;i<kps.length;i++){ sm[i][0]+=a*(kps[i][0]-sm[i][0]); sm[i][1]+=a*(kps[i][1]-sm[i][1]); }
+  return sm;
+}
+const camEl=document.getElementById('cam');
+function draw(p){
+  const W=cv.width, H=cv.height;
+  // paint the live camera frame onto the canvas (robust — no z-index/overlay tricks)
+  if(camEl && camEl.videoWidth>0){
+    ctx.save(); ctx.globalAlpha=0.9;
+    // cover-fit the camera frame into the canvas
+    const vr=camEl.videoWidth/camEl.videoHeight, cr=W/H;
+    let dw=W, dh=H, dx=0, dy=0;
+    if(vr>cr){ dh=H; dw=H*vr; dx=(W-dw)/2; } else { dw=W; dh=W/vr; dy=(H-dh)/2; }
+    ctx.drawImage(camEl, dx, dy, dw, dh); ctx.restore();
+  } else {
+    ctx.fillStyle='#070a0e'; ctx.fillRect(0,0,W,H);
+  }
+  if(!p || !p.kps){ return; }
+  const s = smooth(p.kps);
+  const k = s.map(([x,y])=>[x*W, y*H]);
+  ctx.lineWidth=5; ctx.strokeStyle=p.presence?'rgba(70,224,138,.95)':'rgba(125,135,150,.8)'; ctx.lineCap='round';
+  ctx.shadowColor='rgba(70,224,138,.6)'; ctx.shadowBlur=8;
+  for(const [a,b] of edges){ ctx.beginPath(); ctx.moveTo(k[a][0],k[a][1]); ctx.lineTo(k[b][0],k[b][1]); ctx.stroke(); }
+  ctx.shadowBlur=0;
+  for(const [x,y] of k){ ctx.beginPath(); ctx.arc(x,y,5,0,7); ctx.fillStyle=p.presence?'#ffb840':'#667'; ctx.fill(); }
+}
+
+// ---- laptop webcam (visual reference only; NOT fed to the model) ----
+let camStream=null;
+async function startCam(deviceId){
+  if(camStream){ camStream.getTracks().forEach(t=>t.stop()); }
+  const constraints = deviceId ? {video:{deviceId:{exact:deviceId}}} : {video:true};
+  const st=document.getElementById('camStatus');
+  try{
+    st.textContent='camera: requesting…';
+    camStream = await navigator.mediaDevices.getUserMedia(constraints);
+    const v=document.getElementById('cam'); v.muted=true; v.srcObject=camStream;
+    v.onloadedmetadata=()=>{ v.play().catch(err=>st.textContent='camera: play() blocked '+err.name); };
+    await v.play().catch(()=>{});
+    const tr=camStream.getVideoTracks()[0]; const ss=tr.getSettings();
+    // live readout: shows if real frames are flowing (videoWidth>0) and which device
+    const tick=()=>{ st.textContent = `camera: "${tr.label}" ${v.videoWidth}x${v.videoHeight} ${tr.readyState} ${v.paused?'PAUSED':'playing'}`; };
+    tick(); setInterval(tick, 1000);
+    document.getElementById('camBtn').textContent='switch camera ↻';
+    // populate the picker now that we have permission (labels need permission)
+    const devs = (await navigator.mediaDevices.enumerateDevices()).filter(d=>d.kind==='videoinput');
+    const sel=document.getElementById('camSel'); sel.style.display = devs.length>1?'inline-block':'none';
+    sel.innerHTML = devs.map((d,i)=>`<option value="${d.deviceId}">${d.label||('camera '+(i+1))}</option>`).join('');
+    const cur = camStream.getVideoTracks()[0].getSettings().deviceId; if(cur) sel.value=cur;
+  }catch(e){
+    document.getElementById('camBtn').textContent = 'camera error: '+e.name+(e.name==='NotReadableError'?' (in use by Zoom/Teams?)':'');
+    console.error('getUserMedia', e);
+  }
+}
+document.getElementById('camBtn').addEventListener('click', ()=>startCam());
+document.getElementById('camSel').addEventListener('change', e=>startCam(e.target.value));
+
+function connect(){
+  banner('down','CONNECTING…');
+  const ws = new WebSocket(POSE_WS);
+  ws.onopen = ()=> banner('sim','WAITING FOR POSE…');
+  ws.onmessage = ev => {
+    const d = JSON.parse(ev.data);
+    if(d.type==='meta'){ edges = d.edges; return; }
+    if(d.type!=='pose') return;
+    last=d; frames++;
+    if(d.src==='esp32') banner('live','LIVE — WiFi-inferred pose (real ESP32 CSI)');
+    else banner('sim','SIMULATED CSI — not real ('+d.src+')');
+    $('src').textContent=d.src; $('src').className = d.src==='esp32'?'v green':'v';
+    $('nodes').textContent=(d.nodes||[]).join(', ')||'—';
+    $('pres').textContent=d.presence?'PRESENT':'—';
+    $('motion').textContent=(d.motion!=null?Math.round(d.motion):'—');
+  };
+  ws.onclose = ()=>{ banner('down','NO BRIDGE — start wiflow_infer.py'); setTimeout(connect,1500); };
+  ws.onerror = ()=> ws.close();
+}
+function loop(){ draw(last); const now=performance.now(); if(now-t0>1000){ $('fps').textContent=frames; frames=0; t0=now; } requestAnimationFrame(loop); }
+connect(); loop();
+</script>
+</body>
+</html>

examples/through-wall/serve.py

@@ -0,0 +1,65 @@
+"""Tiny threaded static server for the through-wall WiFi-CSI sensing demo.
+
+Adapted from examples/three.js/server/serve-demo.py. Serves the
+`examples/through-wall/` page so a browser can fetch index.html, then the
+page connects directly to the LIVE sensing-server WebSocket at
+ws://localhost:8765/ws/sensing (NOT proxied through here).
+
+Why a threaded server (not `python -m http.server`)?
+The stdlib SimpleHTTPServer is single-threaded; a browser opens several
+parallel connections (HTML + the three.js CDN tags fetch in parallel),
+the first eats the worker, the rest can stall. ThreadingHTTPServer fixes it.
+
+IMPORTANT: this serves on port 8080 — port 8765 is taken by the
+sensing-server's WebSocket. They are two different processes.
+
+Usage:
+    # 1) start the REAL sensing-server (separate terminal):
+    #      cd v2
+    #      cargo build -p wifi-densepose-sensing-server
+    #      ./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005
+    # 2) start this static server:
+    python examples/through-wall/serve.py
+    # 3) open:
+    #      http://localhost:8080/examples/through-wall/index.html
+
+Override the WS endpoint with a query param, e.g.:
+    http://localhost:8080/examples/through-wall/index.html?ws=ws://192.168.1.20:8765/ws/sensing
+"""
+from http.server import ThreadingHTTPServer, SimpleHTTPRequestHandler
+import os
+import sys
+
+PORT = int(os.environ.get("PORT", 8080))
+
+# Serve from the repo root regardless of where this script is launched.
+# This file lives at examples/through-wall/serve.py — two levels deep.
+os.chdir(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
+
+
+class NoCacheHandler(SimpleHTTPRequestHandler):
+    def end_headers(self):
+        # Aggressive no-cache so the browser ALWAYS fetches the latest
+        # index.html after edits, even on a soft refresh.
+        self.send_header("Cache-Control", "no-store, no-cache, must-revalidate, max-age=0")
+        self.send_header("Pragma", "no-cache")
+        self.send_header("Expires", "0")
+        super().end_headers()
+
+    def log_message(self, fmt, *args):  # quieter logs
+        sys.stderr.write("[serve] " + (fmt % args) + "\n")
+
+
+PAGE = "examples/through-wall/index.html"
+
+with ThreadingHTTPServer(("127.0.0.1", PORT), NoCacheHandler) as srv:
+    print(f"serving {os.getcwd()} on http://127.0.0.1:{PORT}/")
+    print(f"  open  http://localhost:{PORT}/{PAGE}")
+    print("")
+    print("  The page connects to the LIVE sensing-server at")
+    print("  ws://localhost:8765/ws/sensing (start it first — see README.md).")
+    print("  Override with ?ws=ws://HOST:PORT/ws/sensing")
+    try:
+        srv.serve_forever()
+    except KeyboardInterrupt:
+        sys.exit(0)

examples/through-wall/wiflow_ab.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+"""Rigorous A/B for WiFlow CSI->pose: is the held-out PCK real signal or split leakage?
+
+For a dataset of {csi:[D], kps:17x[x,y,vis]} pairs, train the SAME small MLP under
+several train/val SPLITS and report held-out PCK@0.10 vs the mean-pose baseline:
+
+  - chronological_80_20 : last 20% in time (val temporally ADJACENT to train -> leaks
+                          via CSI/pose autocorrelation; this is what gave us +9.4)
+  - random_80_20        : shuffled (val frames interleaved with train -> MAX leak)
+  - blocked_gap         : hold out a contiguous MIDDLE block with a time GAP buffer on
+                          each side so val is NOT adjacent to any train frame -> the
+                          honest, leakage-controlled test
+
+If the model beats baseline on chronological/random but COLLAPSES to ~baseline on
+blocked_gap, the apparent signal was temporal leakage, not generalizable CSI->pose.
+
+Usage (ruvultra venv): python wiflow_ab.py --data ~/wiflow-room/dataset.jsonl
+"""
+import argparse, json, sys
+import numpy as np, torch, torch.nn as nn
+
+def _rec(r, X, Y, V, B):
+    X.append(r["csi"]); kp=r["kps"]
+    if kp and isinstance(kp[0], (list,tuple)):       # 17 x [x,y(,vis)]
+        Y.append([c for k in kp for c in (k[0],k[1])]); V.append([(k[2] if len(k)>2 else 1.0) for k in kp])
+    else:                                            # flat 34 (browser export, no vis)
+        Y.append(list(kp)); V.append([1.0]*17)
+    B.append(r.get("bucket"))
+
+def load(path):
+    X,Y,V,B=[],[],[],[]
+    txt=open(path).read().strip()
+    if txt[:1] in "[{":                               # JSON (browser export: dict{samples:[]} or bare array)
+        d=json.loads(txt)
+        rows = d if isinstance(d,list) else d.get("samples", d.get("data", []))
+        for r in rows: _rec(r,X,Y,V,B)
+    else:                                             # JSONL (python capture)
+        for line in txt.splitlines():
+            if line.strip(): _rec(json.loads(line),X,Y,V,B)
+    return np.array(X,np.float32), np.array(Y,np.float32), np.array(V,np.float32), B
+
+class Net(nn.Module):
+    def __init__(s,din,dout):
+        super().__init__()
+        s.n=nn.Sequential(nn.Linear(din,384),nn.ReLU(),nn.Dropout(.35),
+                          nn.Linear(384,192),nn.ReLU(),nn.Dropout(.35),
+                          nn.Linear(192,96),nn.ReLU(),nn.Linear(96,dout),nn.Sigmoid())
+    def forward(s,x): return s.n(x)
+
+def pck(pred,gt,vis,thr=0.10):
+    p=pred.reshape(-1,17,2); g=gt.reshape(-1,17,2)
+    d=np.linalg.norm(p-g,axis=2); m=vis>0.5
+    return float((d[m]<thr).mean()) if m.any() else 0.0
+
+def split_idx(n, kind, B=None):
+    idx=np.arange(n)
+    if kind=="chronological_80_20":
+        c=int(n*.8); return idx[:c], idx[c:]
+    if kind=="random_80_20":
+        rng=np.random.default_rng(0); p=rng.permutation(n); c=int(n*.8); return p[:c], p[c:]
+    if kind=="blocked_gap":
+        # val = contiguous middle 20%; a WIDE 10% time gap each side guarantees no train
+        # frame is temporally adjacent to a val frame (kills frame-autocorrelation leakage).
+        v0=int(n*.4); v1=int(n*.6); gap=int(n*.10)
+        val=idx[v0:v1]; train=np.concatenate([idx[:max(0,v0-gap)], idx[min(n,v1+gap):]])
+        return train, val
+    if kind=="grouped_bucket":
+        # hold out ENTIRE activity buckets -> val poses/activities never seen in train.
+        # the strictest leakage-free test (only when bucket labels exist).
+        b=np.array([x if x is not None else -1 for x in B])
+        uniq=[u for u in sorted(set(b.tolist())) if u!=-1]
+        if len(uniq)<3: raise ValueError("too few buckets")
+        hold=set(uniq[::max(1,len(uniq)//3)][:max(1,len(uniq)//3)])  # ~1/3 of activities held out
+        val=idx[np.isin(b,list(hold))]; train=idx[~np.isin(b,list(hold))]
+        return train, val
+    raise ValueError(kind)
+
+def run(X,Y,V,tr,va,epochs=250,seed=0):
+    torch.manual_seed(seed); np.random.seed(seed)   # seed weight init + batch shuffle
+    dev="cuda" if torch.cuda.is_available() else "cpu"
+    mu,sd=X[tr].mean(0),X[tr].std(0)+1e-6
+    Xtr=torch.tensor((X[tr]-mu)/sd).to(dev); Ytr=torch.tensor(Y[tr]).to(dev)
+    Xva=torch.tensor((X[va]-mu)/sd).to(dev)
+    net=Net(X.shape[1],Y.shape[1]).to(dev)
+    opt=torch.optim.Adam(net.parameters(),lr=1e-3,weight_decay=1e-4); lf=nn.MSELoss()
+    best=(1e9,None)
+    for ep in range(epochs):
+        net.train(); perm=torch.randperm(len(Xtr),device=dev)
+        for i in range(0,len(Xtr),64):
+            j=perm[i:i+64]; opt.zero_grad(); loss=lf(net(Xtr[j]),Ytr[j]); loss.backward(); opt.step()
+        net.eval()
+        with torch.no_grad(): pv=net(Xva).cpu().numpy()
+        vl=float(((pv-Y[va])**2).mean())
+        if vl<best[0]: best=(vl,pv)
+    base=np.tile(Y[tr].mean(0),(len(va),1))
+    return pck(best[1],Y[va],V[va]), pck(base,Y[va],V[va])
+
+def main():
+    ap=argparse.ArgumentParser(); ap.add_argument("--data",required=True)
+    ap.add_argument("--epochs",type=int,default=250); ap.add_argument("--seeds",type=int,default=3)
+    a=ap.parse_args()
+    X,Y,V,B=load(a.data); n=len(X)
+    has_buckets=any(x is not None for x in B)
+    print(f"[ab] {n} samples, X={X.shape}, buckets={'yes' if has_buckets else 'no'}, "
+          f"seeds={a.seeds}, epochs={a.epochs}\n")
+    print(f"{'split':<22}{'model PCK@0.10':>16}{'baseline':>11}{'delta (mean±sd)':>20}   verdict")
+    print("-"*86)
+    splits=["chronological_80_20","random_80_20","blocked_gap"]+(["grouped_bucket"] if has_buckets else [])
+    for kind in splits:
+        try:
+            tr,va=split_idx(n,kind,B)
+            ms=[]; bs=[]
+            for s in range(a.seeds):
+                m,b=run(X,Y,V,tr,va,a.epochs,seed=s); ms.append(m); bs.append(b)
+            ms=np.array(ms)*100; bs=np.array(bs)*100; ds=ms-bs
+            dm,dsd=ds.mean(),ds.std()
+            # REAL only if the mean delta minus 1 sd still clears the 1.5pp threshold (robust to seed variance)
+            verdict = "REAL signal" if dm-dsd>1.5 else ("weak/uncertain" if dm>1.5 else "no signal (==baseline)")
+            print(f"{kind:<22}{ms.mean():>13.1f}±{ms.std():>3.1f}{bs.mean():>10.1f}%{dm:>+12.1f}±{dsd:>4.1f}pp   {verdict}")
+        except Exception as e:
+            print(f"{kind:<22}  skipped: {e}")
+    print(f"\nmean±sd over {a.seeds} seeds (weight init + batch order). blocked_gap = 10% time gap each")
+    print("side; grouped_bucket holds out ENTIRE activities (strictest). If only the LEAKY splits")
+    print("(chronological/random) beat baseline, the apparent signal is leakage, not generalizable pose.")
+
+if __name__=="__main__": main()

examples/through-wall/wiflow_capture.py

@@ -0,0 +1,161 @@
+#!/usr/bin/env python3
+"""WiFlow-style camera-supervised capture (ADR-079 / ADR-180).
+
+Runs on a box with BOTH a camera (ground truth) and reachable live CSI:
+  - opens a camera, runs MediaPipe Pose -> 17 COCO keypoints (the LABEL),
+  - subscribes to the sensing-server /ws/sensing (the INPUT: CSI features +
+    20x20 signal-field),
+  - writes timestamp-aligned (csi -> pose) pairs to a JSONL dataset.
+
+This is the *collect* phase of camera-supervised CSI->pose training. The camera
+and the CSI nodes MUST see the same person in the same space at the same time,
+or the pairs are meaningless. Honest by construction: we only emit a pair when
+BOTH a confident camera pose AND a live (source=esp32) CSI frame are present in
+the same ~100 ms window.
+
+Usage (on ruvultra, with the CSI tunneled to localhost:8765):
+    python3 wiflow_capture.py --ws ws://localhost:8765/ws/sensing \
+        --cam 0 --out ~/wiflow-room/dataset.jsonl --seconds 180
+"""
+import argparse, asyncio, json, time, threading, sys, os
+from collections import deque
+
+import urllib.request
+import cv2
+import numpy as np
+import mediapipe as mp
+from mediapipe.tasks.python import BaseOptions
+from mediapipe.tasks.python.vision import PoseLandmarker, PoseLandmarkerOptions, RunningMode
+import websockets
+
+_MODEL_URL = ("https://storage.googleapis.com/mediapipe-models/pose_landmarker/"
+              "pose_landmarker_lite/float16/latest/pose_landmarker_lite.task")
+
+def ensure_model(path: str) -> str:
+    if not os.path.exists(path):
+        os.makedirs(os.path.dirname(path), exist_ok=True)
+        print(f"[capture] downloading pose model -> {path}", flush=True)
+        urllib.request.urlretrieve(_MODEL_URL, path)
+    return path
+
+# MediaPipe Pose (33 landmarks) -> 17 COCO keypoints (same mapping as
+# scripts/collect-ground-truth.py, ADR-079).
+COCO_FROM_MP = [0, 2, 5, 7, 8, 11, 12, 13, 14, 15, 16, 23, 24, 25, 26, 27, 28]
+COCO_NAMES = ["nose","l_eye","r_eye","l_ear","r_ear","l_sho","r_sho","l_elb",
+              "r_elb","l_wri","r_wri","l_hip","r_hip","l_knee","r_knee","l_ank","r_ank"]
+
+# ---- shared state between the CSI (async) thread and the camera (sync) loop ----
+_latest_csi = {"t": 0.0, "frame": None}
+_csi_lock = threading.Lock()
+_stop = threading.Event()
+
+
+def csi_thread(ws_url: str):
+    """Background thread: keep the most recent LIVE csi frame in _latest_csi."""
+    async def run():
+        while not _stop.is_set():
+            try:
+                async with websockets.connect(ws_url, open_timeout=8, ping_interval=20) as ws:
+                    while not _stop.is_set():
+                        msg = await asyncio.wait_for(ws.recv(), timeout=8)
+                        d = json.loads(msg)
+                        with _csi_lock:
+                            _latest_csi["t"] = time.time()
+                            _latest_csi["frame"] = d
+            except Exception as e:
+                print(f"[csi] reconnect ({e})", flush=True)
+                await asyncio.sleep(1.0)
+    asyncio.new_event_loop().run_until_complete(run())
+
+
+def csi_vector(frame: dict):
+    """Flatten a csi frame to a fixed-length input vector: features + field."""
+    f = frame.get("features", {}) or {}
+    feats = [f.get("mean_rssi", 0.0), f.get("variance", 0.0),
+             f.get("motion_band_power", 0.0), f.get("breathing_band_power", 0.0)]
+    # per-node mean_rssi/variance/motion for up to the 2 nodes (9, 13)
+    pernode = {nf.get("node_id"): (nf.get("features") or {}) for nf in (frame.get("node_features") or [])}
+    for nid in (9, 13):
+        nf = pernode.get(nid, {})
+        feats += [nf.get("mean_rssi", 0.0), nf.get("variance", 0.0), nf.get("motion_band_power", 0.0)]
+    field = (frame.get("signal_field", {}) or {}).get("values") or []
+    field = (field + [0.0] * 400)[:400]
+    return feats + field   # 4 + 6 + 400 = 410-d
+
+
+def main():
+    ap = argparse.ArgumentParser(description="WiFlow camera-supervised CSI<->pose capture (ADR-180).")
+    ap.add_argument("--ws", default="ws://localhost:8765/ws/sensing")
+    ap.add_argument("--cam", type=int, default=0)
+    ap.add_argument("--out", default=os.path.expanduser("~/wiflow-room/dataset.jsonl"))
+    ap.add_argument("--seconds", type=int, default=180)
+    ap.add_argument("--min-vis", type=float, default=0.5, help="min mean landmark visibility to accept a pose label")
+    ap.add_argument("--max-skew-ms", type=float, default=150, help="max csi/pose time skew to pair")
+    ap.add_argument("--require-esp32", action="store_true", default=True,
+                    help="only pair when csi source==esp32 (real). Default on.")
+    args = ap.parse_args()
+
+    os.makedirs(os.path.dirname(args.out), exist_ok=True)
+    th = threading.Thread(target=csi_thread, args=(args.ws,), daemon=True)
+    th.start()
+
+    cap = cv2.VideoCapture(args.cam)
+    if not cap.isOpened():
+        print(f"ERROR: cannot open camera {args.cam}", file=sys.stderr); sys.exit(2)
+    W = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) or 640
+    H = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) or 480
+    model_path = ensure_model(os.path.expanduser("~/wiflow-room/pose_landmarker_lite.task"))
+    landmarker = PoseLandmarker.create_from_options(PoseLandmarkerOptions(
+        base_options=BaseOptions(model_asset_path=model_path),
+        running_mode=RunningMode.IMAGE, min_pose_detection_confidence=0.5))
+
+    n_pairs = 0; n_nopose = 0; n_nocsi = 0; n_skew = 0; n_sim = 0
+    t0 = time.time()
+    print(f"[capture] camera {args.cam} {W}x{H} -> {args.out} for {args.seconds}s")
+    print("[capture] stand in view AND in the CSI field; move/walk so poses vary. Ctrl-C to stop.")
+    with open(args.out, "a") as out:
+        try:
+            while time.time() - t0 < args.seconds:
+                ok, frame = cap.read()
+                if not ok:
+                    continue
+                now = time.time()
+                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                res = landmarker.detect(mp.Image(image_format=mp.ImageFormat.SRGB, data=rgb))
+                if not res.pose_landmarks:
+                    n_nopose += 1; continue
+                lm = res.pose_landmarks[0]
+                kps = [[lm[i].x, lm[i].y, lm[i].visibility] for i in COCO_FROM_MP]
+                vis = float(np.mean([k[2] for k in kps]))
+                if vis < args.min_vis:
+                    n_nopose += 1; continue
+                with _csi_lock:
+                    ct = _latest_csi["t"]; cf = _latest_csi["frame"]
+                if cf is None:
+                    n_nocsi += 1; continue
+                if (now - ct) * 1000.0 > args.max_skew_ms:
+                    n_skew += 1; continue
+                if args.require_esp32 and cf.get("source") != "esp32":
+                    n_sim += 1; continue
+                rec = {"t": now, "vis": round(vis, 3),
+                       "kps": [[round(x, 4), round(y, 4), round(v, 3)] for x, y, v in kps],
+                       "csi": csi_vector(cf),
+                       "src": cf.get("source"),
+                       "nodes": sorted(n.get("node_id") for n in cf.get("nodes", []) if n.get("node_id") is not None)}
+                out.write(json.dumps(rec) + "\n")
+                n_pairs += 1
+                if n_pairs % 30 == 0:
+                    out.flush()
+                    el = int(now - t0)
+                    print(f"[capture] t+{el:3d}s pairs={n_pairs} (skip: nopose={n_nopose} nocsi={n_nocsi} skew={n_skew} sim={n_sim})", flush=True)
+        except KeyboardInterrupt:
+            print("\n[capture] stopped by user")
+    _stop.set(); cap.release()
+    print(f"[capture] DONE. wrote {n_pairs} paired samples to {args.out}")
+    print(f"[capture] skipped: no-pose={n_nopose} no-csi={n_nocsi} skew={n_skew} simulated={n_sim}")
+    if n_pairs == 0:
+        print("[capture] WARNING: 0 pairs — check camera sees you AND csi source==esp32 (live).")
+
+
+if __name__ == "__main__":
+    main()

examples/through-wall/wiflow_infer.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+"""Live CSI->pose inference bridge (ADR-180).
+
+Runs on the box with the live CSI. Loads the camera-supervised model (numpy,
+no torch needed), subscribes to /ws/sensing, runs a forward pass per frame, and
+broadcasts the predicted 17-keypoint pose to HTML clients on ws://:8770/pose.
+
+  python wiflow_infer.py --model model/model.npz \
+      --in ws://localhost:8765/ws/sensing --port 8770
+"""
+import argparse, asyncio, json, os
+import numpy as np
+import websockets
+
+# COCO skeleton edges (for the client; sent once in 'meta')
+EDGES = [[5,7],[7,9],[6,8],[8,10],[5,6],[11,12],[5,11],[6,12],
+         [11,13],[13,15],[12,14],[14,16],[0,1],[0,2],[1,3],[2,4],[0,5],[0,6]]
+
+def csi_vector(frame):
+    f = frame.get("features", {}) or {}
+    feats = [f.get("mean_rssi",0.0), f.get("variance",0.0),
+             f.get("motion_band_power",0.0), f.get("breathing_band_power",0.0)]
+    pernode = {nf.get("node_id"): (nf.get("features") or {}) for nf in (frame.get("node_features") or [])}
+    for nid in (9,13):
+        nf = pernode.get(nid,{}); feats += [nf.get("mean_rssi",0.0), nf.get("variance",0.0), nf.get("motion_band_power",0.0)]
+    field = (frame.get("signal_field",{}) or {}).get("values") or []
+    field = (field + [0.0]*400)[:400]
+    return np.array(feats + field, np.float32)
+
+class Model:
+    def __init__(self, path):
+        z = np.load(path)
+        self.mu, self.sd = z["mu"], z["sd"]
+        self.W = [z["net_0_weight"], z["net_3_weight"], z["net_6_weight"], z["net_8_weight"]]
+        self.b = [z["net_0_bias"],   z["net_3_bias"],   z["net_6_bias"],   z["net_8_bias"]]
+    def __call__(self, x):
+        h = (x - self.mu) / self.sd
+        for i in range(3):
+            h = np.maximum(0.0, h @ self.W[i].T + self.b[i])     # Linear+ReLU
+        out = 1.0/(1.0+np.exp(-(h @ self.W[3].T + self.b[3])))   # Linear+Sigmoid -> 34
+        return out.reshape(17,2)
+
+CLIENTS = set()
+LATEST = {"pose": None}
+
+async def serve_client(ws):
+    CLIENTS.add(ws)
+    try:
+        await ws.send(json.dumps({"type":"meta","edges":EDGES}))
+        async for _ in ws:    # client is read-only; just keep alive
+            pass
+    except Exception:
+        pass
+    finally:
+        CLIENTS.discard(ws)
+
+async def infer_loop(model, in_url):
+    while True:
+        try:
+            async with websockets.connect(in_url, open_timeout=8, ping_interval=20) as ws:
+                async for msg in ws:
+                    d = json.loads(msg)
+                    kp = model(csi_vector(d))
+                    cls = d.get("classification",{})
+                    payload = {"type":"pose","src":d.get("source"),
+                               "presence":bool(cls.get("presence")),
+                               "motion":(d.get("features",{}) or {}).get("motion_band_power"),
+                               "kps":[[round(float(x),4),round(float(y),4)] for x,y in kp],
+                               "nodes":sorted(n.get("node_id") for n in d.get("nodes",[]) if n.get("node_id") is not None)}
+                    LATEST["pose"]=payload
+                    if CLIENTS:
+                        dead=[]
+                        for c in list(CLIENTS):
+                            try: await c.send(json.dumps(payload))
+                            except Exception: dead.append(c)
+                        for c in dead: CLIENTS.discard(c)
+        except Exception as e:
+            print(f"[infer] reconnect ({e})", flush=True); await asyncio.sleep(1.0)
+
+async def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--model", default=os.path.join(os.path.dirname(__file__),"model","model.npz"))
+    ap.add_argument("--in", dest="in_url", default="ws://localhost:8765/ws/sensing")
+    ap.add_argument("--port", type=int, default=8770)
+    args = ap.parse_args()
+    model = Model(args.model)
+    print(f"[infer] model {args.model} loaded; serving predicted poses on ws://0.0.0.0:{args.port}/pose")
+    async with websockets.serve(serve_client, "0.0.0.0", args.port):
+        await infer_loop(model, args.in_url)
+
+if __name__ == "__main__":
+    asyncio.run(main())

examples/through-wall/wiflow_train.py

@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+"""Train a CSI->pose model on the camera-supervised dataset (ADR-079/180).
+
+Input  : 410-d CSI vector (4 global feats + 6 per-node + 400 signal-field).
+Target : 17 COCO keypoints (x,y), normalized 0..1 from the camera (ground truth).
+Reports HONEST held-out PCK@k + MPJPE on a chronological val split (the last
+20% of the session — never trained on), so the number is not leaked.
+
+Usage (ruvultra venv):
+    python wiflow_train.py --data ~/wiflow-room/dataset.jsonl --out ~/wiflow-room/model.pt
+"""
+import argparse, json, math, os, sys
+import numpy as np
+import torch, torch.nn as nn
+
+
+def load(path):
+    X, Y, V = [], [], []
+    with open(path) as f:
+        for line in f:
+            r = json.loads(line)
+            X.append(r["csi"])                       # 410
+            kp = r["kps"]                            # 17 x [x,y,vis]
+            Y.append([c for k in kp for c in (k[0], k[1])])   # 34
+            V.append([k[2] for k in kp])             # 17 visibilities
+    return np.array(X, np.float32), np.array(Y, np.float32), np.array(V, np.float32)
+
+
+class Net(nn.Module):
+    def __init__(self, din, dout):
+        super().__init__()
+        self.net = nn.Sequential(
+            nn.Linear(din, 512), nn.ReLU(), nn.Dropout(0.3),
+            nn.Linear(512, 256), nn.ReLU(), nn.Dropout(0.3),
+            nn.Linear(256, 128), nn.ReLU(),
+            nn.Linear(128, dout), nn.Sigmoid())   # coords in 0..1
+    def forward(self, x): return self.net(x)
+
+
+def pck(pred, gt, vis, thr):
+    # pred/gt: [N,34] -> [N,17,2]; PCK@thr in normalized image units, visible kps only
+    p = pred.reshape(-1, 17, 2); g = gt.reshape(-1, 17, 2)
+    d = np.linalg.norm(p - g, axis=2)             # [N,17]
+    m = vis > 0.5
+    return float((d[m] < thr).mean()) if m.any() else 0.0, float(d[m].mean()) if m.any() else float("nan")
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--data", required=True)
+    ap.add_argument("--out", default=os.path.expanduser("~/wiflow-room/model.pt"))
+    ap.add_argument("--epochs", type=int, default=300)
+    ap.add_argument("--bs", type=int, default=64)
+    args = ap.parse_args()
+
+    X, Y, V = load(args.data)
+    n = len(X)
+    print(f"[train] {n} samples, X={X.shape} Y={Y.shape}")
+    if n < 200:
+        print("[train] too few samples"); sys.exit(2)
+
+    # chronological split (NOT shuffled) so val is a held-out time segment -> honest
+    cut = int(n * 0.8)
+    mu, sd = X[:cut].mean(0), X[:cut].std(0) + 1e-6           # standardize on train only
+    Xn = (X - mu) / sd
+    dev = "cuda" if torch.cuda.is_available() else "cpu"
+    Xtr = torch.tensor(Xn[:cut]).to(dev); Ytr = torch.tensor(Y[:cut]).to(dev)
+    Xva = torch.tensor(Xn[cut:]).to(dev); Yva = Y[cut:]; Vva = V[cut:]
+
+    # mean-pose baseline (predict the train-mean pose for everything) — the bar to beat
+    mean_pose = Y[:cut].mean(0)
+    base_pck, base_mpjpe = pck(np.tile(mean_pose, (len(Yva), 1)), Yva, Vva, 0.10)
+
+    net = Net(X.shape[1], Y.shape[1]).to(dev)
+    opt = torch.optim.Adam(net.parameters(), lr=1e-3, weight_decay=1e-4)
+    lossf = nn.MSELoss()
+    best = (1e9, None)
+    for ep in range(args.epochs):
+        net.train(); perm = torch.randperm(len(Xtr), device=dev)
+        for i in range(0, len(Xtr), args.bs):
+            idx = perm[i:i+args.bs]
+            opt.zero_grad(); out = net(Xtr[idx]); loss = lossf(out, Ytr[idx]); loss.backward(); opt.step()
+        if (ep + 1) % 20 == 0 or ep == args.epochs - 1:
+            net.eval()
+            with torch.no_grad(): pv = net(Xva).cpu().numpy()
+            p10, mpj = pck(pv, Yva, Vva, 0.10); p05, _ = pck(pv, Yva, Vva, 0.05)
+            vloss = float(((pv - Yva) ** 2).mean())
+            print(f"[train] ep{ep+1:3d} val_mse={vloss:.4f} PCK@0.10={p10*100:.1f}% PCK@0.05={p05*100:.1f}% MPJPE={mpj:.4f}")
+            if vloss < best[0]: best = (vloss, {"sd": net.state_dict(), "p10": p10, "p05": p05, "mpj": mpj})
+
+    torch.save({"model": best[1]["sd"], "mu": mu, "sd": sd, "din": X.shape[1]}, args.out)
+    print("\n==================== HONEST RESULT (held-out 20%, never trained) ====================")
+    print(f"  MEAN-POSE BASELINE : PCK@0.10 = {base_pck*100:.1f}%  MPJPE = {base_mpjpe:.4f}  (the bar to beat)")
+    print(f"  CSI->POSE MODEL    : PCK@0.10 = {best[1]['p10']*100:.1f}%  PCK@0.05 = {best[1]['p05']*100:.1f}%  MPJPE = {best[1]['mpj']:.4f}")
+    delta = (best[1]['p10'] - base_pck) * 100
+    print(f"  VERDICT: model {'BEATS' if delta>1 else 'does NOT beat'} mean-pose baseline by {delta:+.1f} pp "
+          f"-> {'real CSI->pose signal' if delta>1 else 'NO usable CSI->pose signal (honest negative)'}")
+    print(f"  saved -> {args.out}")
+
+
+if __name__ == "__main__":
+    main()

v2/Cargo.toml

@@ -25,8 +25,7 @@ members = [
     "crates/wifi-densepose-ruvector",
     "crates/wifi-densepose-desktop",
     "crates/wifi-densepose-pointcloud",
-    "crates/wifi-densepose-geo",
-    "crates/wifi-densepose-worldgraph",  # ADR-139 — WorldGraph environmental digital twin
+    # geo + worldgraph extracted to ruvnet/worldgraph submodule (see crates/worldgraph)
     "crates/wifi-densepose-engine",      # ADR-135..146 integration/composition layer
     "crates/wifi-densepose-calibration", # ADR-151 — per-room calibration & specialist training
     "crates/nvsim",
@@ -58,7 +57,7 @@ members = [
     "crates/wifi-densepose-bfld",
     # ADR-147: OccWorld thin-client bridge — WorldGraph PersonTrack history →
     # OccWorld Python subprocess → TrajectoryPrior injection into pose tracker.
-    "crates/wifi-densepose-worldmodel",
+    # worldmodel extracted to ruvnet/worldgraph submodule (consumed via path dep)
     # ADR-147 (Phase 5): OccWorld TransVQVAE ported to Candle — native Rust
     # inference without Python/IPC overhead. Loaded alongside the Python bridge
     # as a faster alternative once Phase-5 weights are available.
@@ -88,6 +87,7 @@ members = [
 exclude = [
     "crates/wifi-densepose-wasm-edge",
     "crates/homecore-plugin-example",
+    "crates/worldgraph",   # ruvnet/worldgraph submodule — its own workspace (geo/worldgraph/worldmodel)
 ]
 
 [workspace.package]
@@ -215,7 +215,7 @@ wifi-densepose-hardware = { version = "0.3.0", path = "crates/wifi-densepose-har
 wifi-densepose-wasm = { version = "0.3.0", path = "crates/wifi-densepose-wasm" }
 wifi-densepose-mat = { version = "0.3.0", path = "crates/wifi-densepose-mat" }
 wifi-densepose-ruvector = { version = "0.3.0", path = "crates/wifi-densepose-ruvector" }
-wifi-densepose-worldmodel = { version = "0.3.0", path = "crates/wifi-densepose-worldmodel" }
+wifi-densepose-worldmodel = { version = "0.3.0", path = "crates/worldgraph/wifi-densepose-worldmodel" }
 
 [profile.release]
 lto = true

v2/crates/nvsim/src/digitiser.rs

@@ -39,7 +39,20 @@ pub const DEFAULT_SAMPLE_RATE_HZ: f64 = 10_000.0;
 pub const DEFAULT_F_MOD_HZ: f64 = 1_000.0;
 
 /// Quantise one input sample (T) to a signed ADC code. Returns `(code, saturated)`.
+///
+/// A **non-finite** input (`NaN` / `±Inf`) is treated as an out-of-range
+/// condition: it clamps to code `0` and raises the saturation flag. This is
+/// the funnel point that stops the NaN-state-poisoning class — a non-finite
+/// physical field (e.g. produced by a degenerate scene with a NaN dipole
+/// position) would otherwise coerce silently to code `0` *with the saturation
+/// flag clear*, yielding a frame indistinguishable from a legitimate
+/// zero-field reading. Flagging it preserves the "every frame is honest about
+/// its own validity" contract the proof bundle relies on.
 pub fn adc_quantise(b_in_t: f64) -> (i32, bool) {
+    if !b_in_t.is_finite() {
+        // Non-finite => not representable on the ±FS scale; mark saturated.
+        return (0, true);
+    }
     let code_f = (b_in_t / ADC_LSB_T).round();
     let max_code = (1_i32 << (ADC_BITS - 1)) - 1; // 32_767 for 16-bit signed
     let min_code = -max_code; // symmetric
@@ -153,6 +166,23 @@ mod tests {
         }
     }
 
+    #[test]
+    fn adc_quantise_flags_non_finite_as_saturated() {
+        // Security pinning (NaN-state-poisoning guard): a non-finite field
+        // value must clamp to code 0 AND raise the saturation flag, so the
+        // pipeline can flag the frame rather than emitting it as a silent,
+        // indistinguishable zero-field reading. Pre-fix this returned
+        // (0, false) for NaN — a silent corruption.
+        for bad in [f64::NAN, f64::INFINITY, f64::NEG_INFINITY] {
+            let (code, sat) = adc_quantise(bad);
+            assert_eq!(code, 0, "non-finite input {bad} must clamp to code 0");
+            assert!(sat, "non-finite input {bad} must raise the saturation flag");
+        }
+        // A finite in-range value is unaffected (no false positives).
+        let (_, sat) = adc_quantise(1.0e-7);
+        assert!(!sat, "a finite in-range value must NOT be flagged saturated");
+    }
+
     #[test]
     fn adc_saturates_above_full_scale() {
         let (code_pos, sat_pos) = adc_quantise(20.0e-6);

v2/crates/nvsim/src/pipeline.rs

@@ -51,11 +51,28 @@ impl Pipeline {
     /// (sensor × sample) — i.e. `n_samples · scene.sensors.len()` frames
     /// in scene-major / sample-minor order.
     pub fn run(&self, n_samples: usize) -> Vec<MagFrame> {
-        let dt = self
+        // `dt` is derived from caller-supplied config — an external boundary
+        // (e.g. the WASM `config_json`). A degenerate `f_s_hz == 0` makes
+        // `1.0 / f_s_hz == +Inf`; a non-finite or non-positive `dt_s` is
+        // equally hostile. Sanitise before any arithmetic that could panic.
+        let raw_dt = self
             .config
             .dt_s
             .unwrap_or(1.0 / self.config.digitiser.f_s_hz);
-        let dt_us = (dt * 1.0e6) as u64;
+        // Fall back to a 1 µs step (the smallest physically meaningful
+        // sample interval here) when `dt` is non-finite or non-positive, so
+        // the run produces well-defined frames instead of garbage / a panic.
+        let dt = if raw_dt.is_finite() && raw_dt > 0.0 {
+            raw_dt
+        } else {
+            1.0e-6
+        };
+        // `dt` is now finite & positive, so `dt * 1e6` is finite. Cap the
+        // `u64` cast defensively (a huge but finite `dt` could still exceed
+        // `u64::MAX`) and use `saturating_mul` for the per-sample timestamp so
+        // a pathological config can never trigger a multiply-with-overflow
+        // panic (debug / WASM panic=abort) or wrap to a garbage timestamp.
+        let dt_us = (dt * 1.0e6).min(u64::MAX as f64) as u64;
         let nv = NvSensor::new(self.config.sensor);
 
         let mut out: Vec<MagFrame> =
@@ -92,7 +109,7 @@ impl Pipeline {
                 ];
 
                 let mut frame = MagFrame::empty(sensor_idx as u16);
-                frame.t_us = (sample as u64) * dt_us;
+                frame.t_us = (sample as u64).saturating_mul(dt_us);
                 frame.b_pt = b_pt;
                 frame.sigma_pt = sigma_pt;
                 frame.noise_floor_pt_sqrt_hz = (reading.noise_floor_t_sqrt_hz * 1.0e12) as f32;
@@ -205,6 +222,62 @@ mod tests {
         }
     }
 
+    #[test]
+    fn degenerate_zero_sample_rate_does_not_panic() {
+        // Security pinning (panic / DoS guard): an externally-supplied
+        // `f_s_hz == 0` makes `1/f_s_hz == +Inf`; pre-fix that produced
+        // `dt_us == u64::MAX`, and `sample * dt_us` panicked with
+        // "attempt to multiply with overflow" (debug / WASM panic=abort) at
+        // sample >= 2, or wrapped to a garbage timestamp in release. The
+        // sanitised `dt` + `saturating_mul` must keep the run finite.
+        let scene = fixture_scene();
+        let cfg = PipelineConfig {
+            digitiser: crate::digitiser::DigitiserConfig {
+                f_s_hz: 0.0,
+                f_mod_hz: 1000.0,
+            },
+            ..PipelineConfig::default()
+        };
+        let frames = Pipeline::new(scene, cfg, 42).run(8);
+        assert_eq!(frames.len(), 8);
+        for f in &frames {
+            // Timestamps are monotone-well-defined, not garbage.
+            assert!(f.t_us < u64::MAX);
+        }
+    }
+
+    #[test]
+    fn non_finite_scene_input_flags_frame_instead_of_silently_zeroing() {
+        // Security pinning (NaN-state-poisoning guard): a NaN dipole position
+        // makes `r_norm` NaN, which bypasses the near-field clamp
+        // (`NaN < R_MIN_M` is false) and yields a NaN field. Pre-fix the
+        // digitiser silently coerced that NaN to code 0 with the saturation
+        // flag CLEAR — a frame indistinguishable from a real zero-field
+        // reading. Post-fix the frame must carry ADC_SATURATED so the
+        // corruption is visible downstream.
+        let mut scene = Scene::new();
+        scene.add_dipole(DipoleSource::new([f64::NAN, 0.0, 0.5], [0.0, 0.0, 1.0e-3]));
+        scene.add_sensor([0.0, 0.0, 0.0]);
+        let cfg = PipelineConfig {
+            sensor: NvSensorConfig {
+                shot_noise_disabled: true,
+                ..NvSensorConfig::default()
+            },
+            ..PipelineConfig::default()
+        };
+        let frames = Pipeline::new(scene, cfg, 0).run(4);
+        for f in &frames {
+            assert!(
+                f.has_flag(flag::ADC_SATURATED),
+                "non-finite field must raise ADC_SATURATED, not emit a silent zero frame"
+            );
+            // And the emitted value is a defined number, not NaN.
+            for b in f.b_pt {
+                assert!(b.is_finite());
+            }
+        }
+    }
+
     #[test]
     fn adc_saturation_flag_fires_above_full_scale() {
         // Place a dipole close enough to drive the field above ±10 µT FS.

v2/crates/ruview-swarm/Cargo.toml

@@ -1,84 +0,0 @@
-[package]
-name = "ruview-swarm"
-version = "0.1.0"
-edition = "2021"
-description = "RuView drone swarm control system — hierarchical-mesh topology, Raft consensus, MARL, CSI sensing integration (ADR-148)"
-license = "Apache-2.0"
-# Publishing disabled until: (1) PR #862 merges, (2) internal path-deps are
-# published in dependency order, (3) export-control sign-off on the ITAR-gated
-# coordination features (USML Category VIII(h)(12)). Flip to true deliberately.
-publish = false
-
-[features]
-default = []
-# ITAR/USML Category VIII(h)(12): swarming coordination features.
-# Must not be enabled in international distributions without export counsel review.
-itar-unrestricted = []
-mavlink = ["dep:mavlink"]
-ros2-dds = []
-onnx = ["dep:ort"]
-simulation = []
-demo = ["simulation"]
-full = ["mavlink", "onnx", "demo", "itar-unrestricted"]
-ruflo = ["dep:reqwest", "dep:serde_json"]
-# Heavy GPU-capable MARL training (real Candle autodiff PPO). Off by default so
-# the default build stays light and the existing test suite keeps passing.
-train = ["dep:candle-core", "dep:candle-nn"]
-cuda = ["candle-core/cuda", "candle-nn/cuda"]
-
-[dependencies]
-wifi-densepose-core = { path = "../wifi-densepose-core" }
-
-# Serialization
-serde = { version = "1", features = ["derive"] }
-serde_json = { version = "1", optional = true }
-toml = "0.8"
-
-# Async runtime
-tokio = { version = "1", features = ["full"] }
-async-trait = "0.1"
-
-# MAVLink v2 (optional)
-mavlink = { version = "0.13", optional = true }
-
-# ONNX Runtime (optional — for MARL actor inference)
-ort = { version = "2.0.0-rc.11", optional = true }
-
-# Candle 0.9 — real autodiff PPO training (optional, behind `train` feature).
-candle-core = { version = "0.9", default-features = false, optional = true }
-candle-nn   = { version = "0.9", default-features = false, optional = true }
-
-# HTTP client (optional — for Ruflo HTTP backend)
-reqwest = { version = "0.12", features = ["json"], optional = true }
-
-# Crypto — MAVLink v2 HMAC-SHA256 signing
-hmac = "0.12"
-sha2 = "0.10"
-
-# Error handling
-thiserror = "2.0"
-
-# Logging
-tracing = "0.1"
-
-# Numerics
-nalgebra = "0.33"
-rand = "0.8"
-
-[dev-dependencies]
-criterion = { version = "0.5", features = ["html_reports"] }
-tokio-test = "0.4"
-
-[[bench]]
-name = "swarm_bench"
-harness = false
-
-# MARL training binary — requires the `train` feature (Candle autodiff).
-# Excluded from the default build so `cargo test`/CI stay light.
-[[bin]]
-name = "train_marl"
-required-features = ["train"]
-
-# ADR-171 Stage-1 evaluation CLI — pure Rust, no special feature needed.
-[[bin]]
-name = "eval_swarm"

v2/crates/ruview-swarm/README.md

@@ -1,108 +0,0 @@
-# wifi-densepose-swarm
-
-Drone swarm control system for the RuView wifi-densepose workspace. Implements ADR-148.
-
-## Overview
-
-`wifi-densepose-swarm` provides a hierarchical-mesh drone swarm coordination system
-with Raft consensus, MAPPO-based multi-agent reinforcement learning, and tight
-integration with the existing WiFi CSI sensing pipeline (`wifi-densepose-signal`,
-`wifi-densepose-ruvector`).
-
-## Features
-
-- **Hierarchical-Mesh Topology** — cluster heads over Raft consensus; inter-cluster Gossip for map dissemination
-- **Formation Control** — F1 VirtualStructure, F2 LeaderFollower, F3 Reynolds flocking
-- **3-Phase Coverage** — boustrophedon sweep → Bayesian probability grid → multi-drone triangulation
-- **RRT-APF Path Planner** — RRT* with Artificial Potential Field reactive collision avoidance
-- **MARL Actor (MAPPO)** — 64-dim local observation, 3-layer MLP actor, CTDE training interface
-- **CSI Sensing Integration** — drone payload pipeline (ESP32-S3 → Jetson), multi-drone CSI fusion
-- **OccWorld Bridge** — integrates ADR-147 OccWorld occupancy prior as path planner environment
-- **Security Hardening** — MAVLink v2 HMAC-SHA256 signing, UWB GPS anti-spoofing, onboard geofencing, Remote ID
-- **Fail-Safe State Machine** — 10-state onboard safety system, GCS-independent
-- **Demo & Training Modes** — synthetic CSI generation, Gazebo/PX4 SITL interface, TOML mission configs
-
-## ITAR Notice
-
-> ⚠️ **Export-controlled capability.** Swarming coordination features (formation control,
-> Raft consensus, task allocation) are gated behind the `itar-unrestricted` feature flag
-> per **USML Category VIII(h)(12)**. Default builds compile only safe stubs.
-> Do not enable `itar-unrestricted` for international distribution without export counsel review.
-
-## Crate Features
-
-| Feature | Description |
-|---------|-------------|
-| `default` | Core types, sensing, failsafe, config, MARL — no ITAR-gated code |
-| `itar-unrestricted` | Enables formation control, Raft consensus, task allocation |
-| `mavlink` | MAVLink v2 protocol support |
-| `onnx` | ONNX Runtime backend for MARL actor inference (INT8) |
-| `simulation` | Simulation-mode stubs |
-| `demo` | Synthetic CSI generation, scenario runners |
-| `full` | All of the above |
-
-## Quick Start
-
-```rust
-use wifi_densepose_swarm::{config::SwarmConfig, demo::scenario::DemoScenario};
-
-// Load a mission profile
-let config = SwarmConfig::sar_default();
-
-// Run a demo scenario
-let scenario = DemoScenario::sar_rubble_field(4); // 4-drone SAR
-let estimated_secs = scenario.estimate_coverage_time_secs();
-// → < 240 s for 4 drones over 400×400 m (beyond Wi2SAR SOTA single-drone baseline)
-```
-
-## Mission Profiles
-
-| Profile | Drones | Area | Application |
-|---------|--------|------|-------------|
-| `sar` | 6–12 | 400×400 m | Structural collapse victim search |
-| `inspection` | 3–6 | Linear corridor | Infrastructure (power lines, bridges) |
-| `agriculture` | 4–12 | Field-configurable | NDVI mapping, variable-rate spraying |
-| `mine` | 2–4 | Tunnel | GPS-denied underground exploration |
-| `relay` | 6–20 | Perimeter | Emergency telecom relay chain |
-| `demo` | Any | Configurable | Synthetic CSI, configurable victims |
-
-## Module Structure
-
-```
-src/
-├── types.rs            — NodeId, DroneState, SwarmTask, SwarmError, FailSafeState
-├── topology/           — Raft consensus¹, Gossip dissemination, MeshTopology
-├── formation/          — VirtualStructure¹, LeaderFollower¹, Reynolds flocking¹
-├── planning/           — RRT-APF planner, 3-phase coverage, Bayesian grid, pheromone
-├── allocation/         — Auction-based task allocation¹, FNN bid scorer¹
-├── sensing/            — CSI payload pipeline, multi-drone fusion, OccWorld bridge
-├── marl/               — MAPPO actor, LocalObservation, reward shaping, TrainingConfig
-├── security/           — MAVLink signing, UWB anti-spoofing, geofencing, Remote ID
-├── failsafe/           — 10-state onboard fail-safe machine
-├── config/             — TOML SwarmConfig with mission presets
-├── demo/               — Synthetic CSI, DemoScenario runners
-├── integration/        — FlightController trait (PX4/ArduPilot/Sim)
-└── bench_support.rs    — Criterion fixture generators
-
-¹ Requires `itar-unrestricted` feature.
-```
-
-## Related ADRs
-
-| ADR | Title | Relation |
-|-----|-------|----------|
-| ADR-148 | Drone Swarm Control System | This crate |
-| ADR-147 | OccWorld Occupancy World Model | Environment prior via `sensing::occworld_bridge` |
-| ADR-134 | CSI→CIR ISTA Sparse Recovery | Drone payload sensing |
-| ADR-146 | RF Encoder Multitask Heads | Drone payload inference |
-| ADR-016 | RuVector Training Integration | CrossViewpointAttention |
-
-## Performance Targets (vs. Wi2SAR SOTA)
-
-| Metric | Wi2SAR baseline (1 drone) | 4-drone target |
-|--------|--------------------------|----------------|
-| Coverage | 160,000 m² | 160,000 m² |
-| Time | 13.5 min | ≤ 4 min |
-| Localization | 5 m | ≤ 2 m (3-view fusion) |
-| MARL inference | N/A | ≤ 5 ms (INT8, release) |
-| Raft election | N/A | ≤ 300 ms |

v2/crates/ruview-swarm/benches/swarm_bench.rs

@@ -1,70 +0,0 @@
-use criterion::{criterion_group, criterion_main, Criterion};
-use ruview_swarm::marl::{MappoActor, ActorConfig};
-use ruview_swarm::marl::LocalObservation;
-use ruview_swarm::sensing::MultiViewFusion;
-use ruview_swarm::planning::RrtApfPlanner;
-use ruview_swarm::demo::{DemoScenario};
-use ruview_swarm::types::{CsiDetection, NodeId, Position3D};
-
-fn bench_marl_inference(c: &mut Criterion) {
-    let actor = MappoActor::random_init(ActorConfig::default());
-    let obs = LocalObservation::zeros();
-    c.bench_function("marl_actor_inference", |b| b.iter(|| actor.forward(&obs)));
-}
-
-fn bench_rrt_apf_plan(c: &mut Criterion) {
-    let planner = RrtApfPlanner::new(3.0);
-    let start = Position3D { x: 0.0, y: 0.0, z: -30.0 };
-    let goal  = Position3D { x: 50.0, y: 50.0, z: -30.0 };
-    c.bench_function("rrt_apf_100iter", |b| b.iter(|| {
-        let mut rng = rand::thread_rng();
-        planner.plan(start, goal, 100, &mut rng)
-    }));
-}
-
-fn bench_multiview_fusion(c: &mut Criterion) {
-    let fusion = MultiViewFusion::default();
-    let detections = vec![
-        CsiDetection { drone_id: NodeId(0), confidence: 0.85, victim_position: Some(Position3D { x: 51.0, y: 49.0, z: 0.0 }), timestamp_ms: 0 },
-        CsiDetection { drone_id: NodeId(1), confidence: 0.78, victim_position: Some(Position3D { x: 49.0, y: 51.0, z: 0.0 }), timestamp_ms: 0 },
-        CsiDetection { drone_id: NodeId(2), confidence: 0.92, victim_position: Some(Position3D { x: 50.0, y: 50.0, z: 0.0 }), timestamp_ms: 0 },
-    ];
-    let positions = vec![
-        (NodeId(0), Position3D { x: 0.0,   y: 0.0,  z: -30.0 }),
-        (NodeId(1), Position3D { x: 100.0, y: 0.0,  z: -30.0 }),
-        (NodeId(2), Position3D { x: 50.0,  y: 86.6, z: -30.0 }),
-    ];
-    c.bench_function("multiview_fusion_3drones", |b| b.iter(|| fusion.fuse(&detections, &positions)));
-}
-
-fn bench_demo_coverage_estimate(c: &mut Criterion) {
-    let scenario = DemoScenario::sar_rubble_field(4);
-    c.bench_function("demo_coverage_estimate", |b| b.iter(|| scenario.estimate_coverage_time_secs()));
-}
-
-fn bench_ppo_update(c: &mut Criterion) {
-    use ruview_swarm::marl::{MappoActor, ActorConfig, LocalObservation};
-    use ruview_swarm::marl::training_loop::{ReplayBuffer, Transition, PpoConfig, ppo_update};
-    use ruview_swarm::marl::actor::ActorAction;
-
-    let mut buf = ReplayBuffer::new(64);
-    for i in 0..64 {
-        buf.push(Transition {
-            obs: LocalObservation::zeros(),
-            action: ActorAction { delta_heading_rad: 0.1, delta_altitude_m: 0.0, speed_ms: 5.0, trigger_csi_scan: true },
-            reward: if i % 2 == 0 { 10.0 } else { -2.0 },
-            next_obs: LocalObservation::zeros(),
-            done: i == 63,
-        });
-    }
-    let cfg = PpoConfig::default();
-    c.bench_function("ppo_update_64transitions", |b| {
-        b.iter(|| {
-            let mut actor = MappoActor::random_init(ActorConfig::default());
-            ppo_update(&mut actor, &buf, &cfg)
-        })
-    });
-}
-
-criterion_group!(benches, bench_marl_inference, bench_rrt_apf_plan, bench_multiview_fusion, bench_demo_coverage_estimate, bench_ppo_update);
-criterion_main!(benches);

v2/crates/ruview-swarm/evals/.gitkeep

@@ -1,2 +0,0 @@
-# ADR-171 evaluation outputs
-RESULTS.md is generated by the `eval_swarm` binary.

v2/crates/ruview-swarm/evals/RESULTS.md

@@ -1,26 +0,0 @@
-# ruview-swarm Evaluation Results (ADR-171 Stage 1, kinematic)
-
-Statistically-rigorous evaluation harness: seeded multi-run rollouts with IQM + 95% stratified-bootstrap confidence intervals (Agarwal et al., NeurIPS 2021).
-
-## Run configuration
-
-- **Stage**: 1 (kinematic, self-contained, deterministic per seed)
-- **Episodes per pattern**: 100 (seed × episode matrix)
-- **CI method**: 95% stratified bootstrap of the IQM, stratified by seed
-- **GDOP**: 2-D geometric dilution of precision at first detection
-
-> **Stage 2 pending**: high-fidelity Gazebo/PX4 SITL evaluation (false-alarm rate, real collision rate on the median seeds) is a follow-on — see ADR-171 §6.1. The collision figures below are a kinematic min-separation proxy, not SITL physics.
-
-## Flight-pattern leaderboard
-
-| Flight pattern | Coverage IQM [95% CI] | Localization (m) IQM [95% CI] | Detection rate | Mean GDOP |
-|----------------|-----------------------|-------------------------------|----------------|-----------|
-| partitioned_lawnmower | 1.000 [1.000, 1.000] | 7.022 [5.669, 8.379] | 100.0% | 0.000 |
-| pheromone | 0.662 [0.652, 0.671] | 4.110 [3.346, 5.141] | 95.0% | 1.598 |
-| levy_flight | 0.490 [0.489, 0.491] | 3.523 [2.897, 4.160] | 100.0% | 0.000 |
-| boustrophedon | 0.370 [0.370, 0.370] | 2.740 [2.357, 3.207] | 100.0% | 0.000 |
-| spiral | 0.336 [0.336, 0.336] | 3.082 [2.678, 3.568] | 100.0% | 0.000 |
-| potential_field | 0.254 [0.252, 0.256] | 4.343 [3.489, 5.265] | 100.0% | 0.000 |
-| _Wi2SAR (paper baseline)_ | _n/a_ | _5.0 (paper)_ | _n/a_ | _n/a_ |
-
-_Wi2SAR row is the published single-drone localization figure (arxiv 2604.09115), shown paper-to-paper for reference only — it was not re-run through this kinematic harness._

v2/crates/ruview-swarm/src/allocation/auction.rs

@@ -1,118 +0,0 @@
-//! Contract-net (auction) task allocation.
-
-use crate::types::{DroneState, NodeId, SwarmTask, TaskId};
-use std::collections::HashMap;
-
-/// A bid submitted by a node for a task.
-#[derive(Debug, Clone)]
-pub struct Bid {
-    pub node_id: NodeId,
-    pub task_id: TaskId,
-    /// Lower score = more capable/willing. Computed by the bidding node.
-    pub score: f32,
-}
-
-/// Auction-based task allocator.
-pub struct AuctionAllocator {
-    pub pending_tasks: HashMap<TaskId, SwarmTask>,
-    pub bids: HashMap<TaskId, Vec<Bid>>,
-    pub timeout_ms: u64,
-}
-
-impl AuctionAllocator {
-    pub fn new(timeout_ms: u64) -> Self {
-        Self {
-            pending_tasks: HashMap::new(),
-            bids: HashMap::new(),
-            timeout_ms,
-        }
-    }
-
-    /// Announce a new task (add to pending pool).
-    pub fn announce_task(&mut self, task: SwarmTask) {
-        let id = task.id;
-        self.pending_tasks.insert(id, task);
-        self.bids.entry(id).or_default();
-    }
-
-    /// Accept a bid for a pending task.
-    pub fn submit_bid(&mut self, bid: Bid) {
-        if self.pending_tasks.contains_key(&bid.task_id) {
-            self.bids.entry(bid.task_id).or_default().push(bid);
-        }
-    }
-
-    /// Resolve all pending tasks: assign each to the best bidder.
-    /// Returns a list of (TaskId, winning NodeId) pairs.
-    pub fn resolve(&mut self) -> Vec<(TaskId, NodeId)> {
-        let mut results = Vec::new();
-        let task_ids: Vec<TaskId> = self.pending_tasks.keys().copied().collect();
-
-        for task_id in task_ids {
-            let winner = self
-                .bids
-                .get(&task_id)
-                .and_then(|bids| {
-                    bids.iter()
-                        .min_by(|a, b| {
-                            a.score.partial_cmp(&b.score).unwrap_or(std::cmp::Ordering::Equal)
-                        })
-                        .map(|b| b.node_id)
-                });
-
-            if let Some(winner_id) = winner {
-                if let Some(task) = self.pending_tasks.get_mut(&task_id) {
-                    task.assigned_to = Some(winner_id);
-                }
-                results.push((task_id, winner_id));
-                self.bids.remove(&task_id);
-            }
-        }
-
-        // Clean up resolved tasks
-        for (tid, _) in &results {
-            self.pending_tasks.remove(tid);
-        }
-
-        results
-    }
-
-    /// Compute a bid score heuristic for a node given a task.
-    /// Returns a score ∈ [0, ∞): lower is better.
-    pub fn compute_bid_score(node: &DroneState, task: &SwarmTask) -> f32 {
-        let dist = node.position.distance_to(&task.target) as f32;
-        let battery_penalty = (100.0 - node.battery_pct) / 100.0;
-        let link_penalty = 1.0 - node.link_quality;
-        let priority_bonus = 1.0 - task.priority.clamp(0.0, 1.0);
-        dist / 100.0 + battery_penalty * 0.3 + link_penalty * 0.2 + priority_bonus * 0.1
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::{Position3D, SwarmTask, TaskId, TaskKind};
-
-    fn make_task(id: u64) -> SwarmTask {
-        SwarmTask {
-            id: TaskId(id),
-            kind: TaskKind::ReturnToHome,
-            priority: 0.5,
-            target: Position3D::zero(),
-            deadline_ms: None,
-            assigned_to: None,
-        }
-    }
-
-    #[test]
-    fn test_auction_assigns_best_bidder() {
-        let mut alloc = AuctionAllocator::new(1000);
-        let task = make_task(1);
-        alloc.announce_task(task);
-        alloc.submit_bid(Bid { node_id: NodeId(1), task_id: TaskId(1), score: 0.8 });
-        alloc.submit_bid(Bid { node_id: NodeId(2), task_id: TaskId(1), score: 0.3 });
-        let results = alloc.resolve();
-        assert_eq!(results.len(), 1);
-        assert_eq!(results[0].1, NodeId(2)); // lower score wins
-    }
-}

v2/crates/ruview-swarm/src/allocation/fnn.rs

@@ -1,97 +0,0 @@
-//! Lightweight 3-layer FNN bid scorer — pure Rust, no ONNX required.
-
-/// 3-layer FNN: 5 inputs → 16 hidden (ReLU) → 8 hidden (ReLU) → 1 output (sigmoid).
-pub struct FnnScorer {
-    pub w1: [[f32; 5]; 16],
-    pub b1: [f32; 16],
-    pub w2: [[f32; 16]; 8],
-    pub b2: [f32; 8],
-    pub w3: [f32; 8],
-    pub b3: f32,
-}
-
-fn relu(x: f32) -> f32 {
-    x.max(0.0)
-}
-
-fn sigmoid(x: f32) -> f32 {
-    1.0 / (1.0 + (-x).exp())
-}
-
-impl FnnScorer {
-    /// Score a feature vector. Returns sigmoid(output) ∈ [0, 1].
-    /// Features: [dist_norm, battery_norm, link_quality, csi_confidence, workload_norm]
-    pub fn score(&self, features: [f32; 5]) -> f32 {
-        // Layer 1: 5 → 16 (ReLU)
-        let mut h1 = [0.0f32; 16];
-        for (i, row) in self.w1.iter().enumerate() {
-            let z: f32 = row.iter().zip(features.iter()).map(|(w, x)| w * x).sum();
-            h1[i] = relu(z + self.b1[i]);
-        }
-
-        // Layer 2: 16 → 8 (ReLU)
-        let mut h2 = [0.0f32; 8];
-        for (i, row) in self.w2.iter().enumerate() {
-            let z: f32 = row.iter().zip(h1.iter()).map(|(w, x)| w * x).sum();
-            h2[i] = relu(z + self.b2[i]);
-        }
-
-        // Layer 3: 8 → 1 (sigmoid)
-        let z3: f32 = self.w3.iter().zip(h2.iter()).map(|(w, x)| w * x).sum::<f32>() + self.b3;
-        sigmoid(z3)
-    }
-
-    /// Default weights initialised to a simple identity-like setup.
-    pub fn default_weights() -> Self {
-        // Simple: w1 diagonalish, others small constant
-        // Index needed: diagonal/strided init uses i for both row and column.
-        let mut w1 = [[0.0f32; 5]; 16];
-        #[allow(clippy::needless_range_loop)]
-        for i in 0..5 {
-            w1[i][i] = 1.0;
-        }
-        for row in w1.iter_mut().take(16).skip(5) {
-            row[0] = 0.1;
-        }
-        let mut w2 = [[0.0f32; 16]; 8];
-        #[allow(clippy::needless_range_loop)]
-        for i in 0..8 {
-            w2[i][i * 2] = 1.0;
-        }
-        let w3 = [0.125f32; 8];
-        Self {
-            w1,
-            b1: [0.0; 16],
-            w2,
-            b2: [0.0; 8],
-            w3,
-            b3: 0.0,
-        }
-    }
-}
-
-impl Default for FnnScorer {
-    fn default() -> Self {
-        Self::default_weights()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_score_in_unit_interval() {
-        let scorer = FnnScorer::default_weights();
-        let features = [0.3f32, 0.8, 0.9, 0.75, 0.2];
-        let s = scorer.score(features);
-        assert!(s >= 0.0 && s <= 1.0, "score {s} out of [0,1]");
-    }
-
-    #[test]
-    fn test_score_deterministic() {
-        let scorer = FnnScorer::default_weights();
-        let f = [0.5f32; 5];
-        assert_eq!(scorer.score(f), scorer.score(f));
-    }
-}

v2/crates/ruview-swarm/src/allocation/mod.rs

@@ -1,22 +0,0 @@
-//! Task allocation: auction-based and FNN-scored bid evaluation.
-//!
-// NOTE: Task allocation is ITAR-controlled (USML Category VIII(h)(12)).
-// Only available when the `itar-unrestricted` feature is enabled.
-
-#[cfg(feature = "itar-unrestricted")]
-pub mod auction;
-#[cfg(feature = "itar-unrestricted")]
-pub mod fnn;
-
-#[cfg(feature = "itar-unrestricted")]
-pub use auction::{AuctionAllocator, Bid};
-#[cfg(feature = "itar-unrestricted")]
-pub use fnn::FnnScorer;
-
-/// Stub: task allocation is export-controlled. Enable `itar-unrestricted` feature.
-#[cfg(not(feature = "itar-unrestricted"))]
-pub fn allocate_stub() -> crate::SwarmResult<()> {
-    Err(crate::SwarmError::Security(
-        "Task allocation requires itar-unrestricted feature (USML VIII(h)(12))".into(),
-    ))
-}

v2/crates/ruview-swarm/src/bench_support.rs

@@ -1,45 +0,0 @@
-//! Benchmark support utilities: scenario builders and timing helpers for criterion benchmarks.
-
-use crate::types::{DroneState, NodeId, Position3D, Velocity3D};
-
-/// Generate N drone states arranged in a grid.
-pub fn grid_drone_states(n: usize, spacing_m: f64) -> Vec<DroneState> {
-    let side = (n as f64).sqrt().ceil() as usize;
-    (0..n)
-        .map(|i| {
-            let row = i / side;
-            let col = i % side;
-            DroneState {
-                id: NodeId(i as u32),
-                position: Position3D {
-                    x: col as f64 * spacing_m,
-                    y: row as f64 * spacing_m,
-                    z: -30.0,
-                },
-                velocity: Velocity3D::default(),
-                heading_rad: 0.0,
-                altitude_agl_m: 30.0,
-                battery_pct: 80.0,
-                link_quality: 0.9,
-                timestamp_ms: 0,
-            }
-        })
-        .collect()
-}
-
-/// Generate N evenly-spaced positions in a circle.
-pub fn circle_positions(n: usize, radius_m: f64) -> Vec<(NodeId, Position3D)> {
-    (0..n)
-        .map(|i| {
-            let angle = 2.0 * std::f64::consts::PI * i as f64 / n as f64;
-            (
-                NodeId(i as u32),
-                Position3D {
-                    x: radius_m * angle.cos(),
-                    y: radius_m * angle.sin(),
-                    z: -30.0,
-                },
-            )
-        })
-        .collect()
-}

v2/crates/ruview-swarm/src/bin/eval_swarm.rs

@@ -1,104 +0,0 @@
-//! ADR-171 Stage-1 evaluation CLI.
-//!
-//! Runs the kinematic eval matrix over every flight pattern (default) and
-//! writes a ranked `RESULTS.md` leaderboard. Pure Rust — no special feature
-//! flag required, so it builds and runs in default CI.
-//!
-//! Defaults are intentionally small (10 seeds × 10 episodes) so the run is fast.
-//! The full ADR-171 reporting configuration is 10 seeds × 50 episodes — pass
-//! `--seeds 10 --episodes 50` for the publication run.
-//!
-//! ```text
-//! cargo run -p ruview-swarm --bin eval_swarm -- \
-//!   --seeds 10 --episodes 10 --out crates/ruview-swarm/evals/RESULTS.md
-//! ```
-
-use std::path::PathBuf;
-
-use ruview_swarm::evals::metrics::AggregateMetrics;
-use ruview_swarm::evals::report::render_results_md;
-use ruview_swarm::evals::runner::{run_matrix, EvalConfig};
-use ruview_swarm::planning::patterns::FlightPattern;
-
-fn main() {
-    let args: Vec<String> = std::env::args().collect();
-    let mut seeds = 10usize;
-    let mut episodes = 10usize;
-    let mut out = PathBuf::from("crates/ruview-swarm/evals/RESULTS.md");
-
-    let mut i = 1;
-    while i < args.len() {
-        match args[i].as_str() {
-            "--seeds" => {
-                i += 1;
-                seeds = args.get(i).and_then(|s| s.parse().ok()).unwrap_or(seeds);
-            }
-            "--episodes" => {
-                i += 1;
-                episodes = args.get(i).and_then(|s| s.parse().ok()).unwrap_or(episodes);
-            }
-            "--out" => {
-                i += 1;
-                if let Some(p) = args.get(i) {
-                    out = PathBuf::from(p);
-                }
-            }
-            "--help" | "-h" => {
-                eprintln!(
-                    "eval_swarm — ADR-171 Stage-1 kinematic evaluator\n\
-                     Usage: eval_swarm [--seeds N] [--episodes M] [--out PATH]\n\
-                     Defaults: --seeds 10 --episodes 10 --out crates/ruview-swarm/evals/RESULTS.md"
-                );
-                return;
-            }
-            other => {
-                eprintln!("warning: ignoring unknown argument '{other}'");
-            }
-        }
-        i += 1;
-    }
-
-    eprintln!(
-        "Running ADR-171 Stage-1 eval: {seeds} seeds × {episodes} episodes \
-         over {} flight patterns...",
-        FlightPattern::all().len()
-    );
-
-    let mut rows: Vec<(String, AggregateMetrics)> = Vec::new();
-    for (idx, pattern) in FlightPattern::all().into_iter().enumerate() {
-        let mut cfg = EvalConfig::sar_small(pattern);
-        cfg.seeds = seeds;
-        cfg.episodes_per_seed = episodes;
-        let matrix = run_matrix(&cfg);
-        let agg = AggregateMetrics::from_strata(&matrix, 0x0149 ^ idx as u64);
-        eprintln!(
-            "  {}: coverage IQM {:.3}, detection {:.0}%",
-            pattern.name(),
-            agg.coverage_iqm.point,
-            agg.detection_rate * 100.0
-        );
-        rows.push((pattern.name().to_string(), agg));
-    }
-
-    // Rank by descending coverage point estimate.
-    rows.sort_by(|a, b| {
-        b.1.coverage_iqm
-            .point
-            .partial_cmp(&a.1.coverage_iqm.point)
-            .unwrap_or(std::cmp::Ordering::Equal)
-    });
-
-    let md = render_results_md(&rows);
-
-    if let Some(parent) = out.parent() {
-        if let Err(e) = std::fs::create_dir_all(parent) {
-            eprintln!("error: could not create {}: {e}", parent.display());
-            std::process::exit(1);
-        }
-    }
-    if let Err(e) = std::fs::write(&out, &md) {
-        eprintln!("error: could not write {}: {e}", out.display());
-        std::process::exit(1);
-    }
-    eprintln!("Wrote {} ({} bytes).", out.display(), md.len());
-}

v2/crates/ruview-swarm/src/bin/train_marl.rs

@@ -1,474 +0,0 @@
-//! MARL training entry point for ruview-swarm (ADR-148 M4).
-//!
-//! Real Candle autodiff PPO training loop. Runs on CPU, or CUDA when built
-//! with `--features train,cuda` (local RTX 5080 or a GCP L4 instance).
-//!
-//! Movement is driven by a selectable `FlightPattern` (boustrophedon,
-//! partitioned, spiral, pheromone, potential, levy) and reward is shaped by a
-//! selectable `LearningPattern` (mappo, ippo, curiosity, meta). This makes each
-//! pattern produce visibly distinct trajectories + telemetry instead of every
-//! drone clustering on the orchestrator's internal coverage strategy.
-//!
-//! Usage:
-//!   cargo run --release -p ruview-swarm --features train,cuda --bin train_marl -- \
-//!       --episodes 5000 --drones 4 --profile sar \
-//!       --flight-pattern partitioned --learn-pattern mappo_curiosity \
-//!       --checkpoint-dir ./marl-checkpoints
-//!
-//! Right-sizing note: the policy is a 64→128→64 MLP. The bottleneck is
-//! environment-rollout throughput, not GPU matmul — an L4 + 16 vCPU beats an
-//! 8× A100 box for this workload at ~1/20th the cost. See scripts/gcp/.
-
-use std::collections::HashSet;
-
-use ruview_swarm::config::SwarmConfig;
-use ruview_swarm::integration::telemetry::{DroneFrame, TelemetryRecorder};
-use ruview_swarm::marl::candle_ppo::{CandlePpoConfig, CandleTrainer};
-use ruview_swarm::marl::learning::{shaped_reward, CuriosityModule, LearningPattern};
-use ruview_swarm::marl::observation::LocalObservation;
-use ruview_swarm::marl::reward::{RewardCalculator, RewardContext};
-use ruview_swarm::planning::patterns::{FlightPattern, PatternContext};
-use ruview_swarm::types::{DroneState, NodeId, Position3D, Velocity3D};
-
-struct Args {
-    episodes: usize,
-    drones: usize,
-    profile: String,
-    steps_per_episode: usize,
-    checkpoint_dir: String,
-    checkpoint_every: usize,
-    telemetry: Option<String>,
-    telemetry_episode: usize,
-    flight_pattern: String,
-    learn_pattern: String,
-}
-
-impl Default for Args {
-    fn default() -> Self {
-        Self {
-            episodes: 1000,
-            drones: 4,
-            profile: "sar".to_string(),
-            steps_per_episode: 200,
-            checkpoint_dir: "./marl-checkpoints".to_string(),
-            checkpoint_every: 100,
-            telemetry: None,
-            telemetry_episode: 0,
-            flight_pattern: "partitioned".to_string(),
-            learn_pattern: "mappo".to_string(),
-        }
-    }
-}
-
-fn parse_args() -> Args {
-    let mut args = Args::default();
-    let argv: Vec<String> = std::env::args().collect();
-    let mut i = 1;
-    while i < argv.len() {
-        let next = || argv.get(i + 1).cloned().unwrap_or_default();
-        match argv[i].as_str() {
-            "--episodes" => {
-                args.episodes = next().parse().unwrap_or(args.episodes);
-                i += 1;
-            }
-            "--drones" => {
-                args.drones = next().parse().unwrap_or(args.drones);
-                i += 1;
-            }
-            "--profile" => {
-                args.profile = next();
-                i += 1;
-            }
-            "--steps" => {
-                args.steps_per_episode = next().parse().unwrap_or(args.steps_per_episode);
-                i += 1;
-            }
-            "--checkpoint-dir" => {
-                args.checkpoint_dir = next();
-                i += 1;
-            }
-            "--checkpoint-every" => {
-                args.checkpoint_every = next().parse().unwrap_or(args.checkpoint_every);
-                i += 1;
-            }
-            "--telemetry" => {
-                args.telemetry = Some(next());
-                i += 1;
-            }
-            "--telemetry-episode" => {
-                args.telemetry_episode = next().parse().unwrap_or(args.telemetry_episode);
-                i += 1;
-            }
-            "--flight-pattern" => {
-                args.flight_pattern = next();
-                i += 1;
-            }
-            "--learn-pattern" => {
-                args.learn_pattern = next();
-                i += 1;
-            }
-            "-h" | "--help" => {
-                println!(
-                    "train_marl — ruview-swarm MARL training (ADR-148 M4)\n\
-                     \nOptions:\n  \
-                     --episodes N         training episodes (default 1000)\n  \
-                     --drones N           swarm size (default 4)\n  \
-                     --profile NAME       sar|inspection|mine|agriculture (default sar)\n  \
-                     --steps N            steps per episode (default 200)\n  \
-                     --flight-pattern P   boustrophedon|partitioned|spiral|pheromone|potential|levy (default partitioned)\n  \
-                     --learn-pattern P    mappo|ippo|curiosity|meta (default mappo)\n  \
-                     --checkpoint-dir D   checkpoint output dir (default ./marl-checkpoints)\n  \
-                     --checkpoint-every N save every N episodes (default 100)\n  \
-                     --telemetry FILE     write JSONL telemetry for viz/swarm_viz.html\n  \
-                     --telemetry-episode N which episode's steps to record spatially (default 0)"
-                );
-                std::process::exit(0);
-            }
-            other => eprintln!("warning: ignoring unknown arg {other}"),
-        }
-        i += 1;
-    }
-    args
-}
-
-fn config_for(profile: &str) -> SwarmConfig {
-    match profile {
-        "inspection" => SwarmConfig::inspection_default(),
-        "mine" => SwarmConfig::mine_default(),
-        "agriculture" => SwarmConfig::agriculture_default(),
-        _ => SwarmConfig::wi2sar_reference(),
-    }
-}
-
-/// Map a world coordinate to a grid cell index at `grid_res` metre resolution.
-fn cell_of(x: f64, y: f64, grid_res: f64) -> (u32, u32) {
-    let gx = (x / grid_res).floor().max(0.0) as u32;
-    let gy = (y / grid_res).floor().max(0.0) as u32;
-    (gx, gy)
-}
-
-/// Mark every grid cell within the drone's circular scan footprint as scanned,
-/// returning how many *newly* scanned cells this step contributed.
-fn mark_scanned(
-    scanned: &mut HashSet<(u32, u32)>,
-    pos: &Position3D,
-    scan_width_m: f64,
-    grid_res: f64,
-    area_w: f64,
-    area_h: f64,
-) -> u32 {
-    let r = scan_width_m * 0.5;
-    let cols = (area_w / grid_res).ceil() as i64;
-    let rows = (area_h / grid_res).ceil() as i64;
-    let (cx, cy) = cell_of(pos.x, pos.y, grid_res);
-    let span = (r / grid_res).ceil() as i64;
-    let mut new_cells = 0u32;
-    for dgx in -span..=span {
-        for dgy in -span..=span {
-            let gx = cx as i64 + dgx;
-            let gy = cy as i64 + dgy;
-            if gx < 0 || gy < 0 || gx >= cols || gy >= rows {
-                continue;
-            }
-            // Cell centre in metres.
-            let mx = (gx as f64 + 0.5) * grid_res;
-            let my = (gy as f64 + 0.5) * grid_res;
-            if (mx - pos.x).hypot(my - pos.y) <= r && scanned.insert((gx as u32, gy as u32)) {
-                new_cells += 1;
-            }
-        }
-    }
-    new_cells
-}
-
-#[tokio::main]
-async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    let args = parse_args();
-    let cfg = config_for(&args.profile);
-    let flight_pattern = FlightPattern::from_str(&args.flight_pattern);
-    let learn_pattern = LearningPattern::from_str(&args.learn_pattern);
-
-    println!(
-        "MARL training: profile={} drones={} episodes={} steps/ep={} flight={} learn={} ({})",
-        args.profile,
-        args.drones,
-        args.episodes,
-        args.steps_per_episode,
-        flight_pattern.name(),
-        learn_pattern.name(),
-        if learn_pattern.centralized_critic() {
-            "CTDE / centralized critic"
-        } else {
-            "independent learners"
-        }
-    );
-
-    let ppo_cfg = CandlePpoConfig::default();
-    let mut trainer = CandleTrainer::new(ppo_cfg)?;
-    println!("device: {:?}", trainer.net.device());
-
-    let reward_calc = RewardCalculator::default();
-    std::fs::create_dir_all(&args.checkpoint_dir).ok();
-
-    let area_w = cfg.mission.area_width_m;
-    let area_h = cfg.mission.area_height_m;
-    let grid_res = cfg.mission.grid_resolution_m.max(1.0);
-    let scan_w = cfg.planning.csi_scan_width_m;
-    let max_speed = cfg.planning.max_speed_ms.max(0.1);
-    let altitude_z = -cfg.planning.flight_altitude_m;
-    let total_cells = ((area_w / grid_res).ceil() * (area_h / grid_res).ceil()).max(1.0);
-
-    // Synthetic victims placed within the mission area for reward signal.
-    let victims = vec![
-        Position3D { x: area_w * 0.2, y: area_h * 0.3, z: 0.0 },
-        Position3D { x: area_w * 0.6, y: area_h * 0.45, z: 0.0 },
-    ];
-
-    // Composite profile label so the viewer header surfaces the active patterns.
-    let profile_label = format!(
-        "{} · flight={} · learn={}",
-        args.profile,
-        flight_pattern.name(),
-        learn_pattern.name()
-    );
-
-    // Optional telemetry recorder for the visualizer.
-    let mut telem = match &args.telemetry {
-        Some(path) => {
-            let mut rec = TelemetryRecorder::create(path)?;
-            rec.meta(&profile_label, args.drones, area_w, area_h, &victims)?;
-            println!("telemetry → {path} (spatial steps from episode {})", args.telemetry_episode);
-            Some(rec)
-        }
-        None => None,
-    };
-
-    let mut best_return = f32::MIN;
-
-    for episode in 0..args.episodes {
-        // Per-episode curiosity module (count-based novelty over the area).
-        let mut curiosity = CuriosityModule::new(area_w, area_h, 32, 0.5);
-
-        // Build drone states directly so the FlightPattern fully drives motion.
-        let cols = (args.drones as f64).sqrt().ceil().max(1.0) as usize;
-        let mut states: Vec<DroneState> = (0..args.drones)
-            .map(|d| {
-                let (row, col) = (d / cols, d % cols);
-                let mut s = DroneState::default_at_origin(NodeId(d as u32));
-                s.position = Position3D {
-                    x: 10.0 + col as f64 * (area_w / cols as f64),
-                    y: 10.0 + row as f64 * (area_h / cols.max(1) as f64),
-                    z: altitude_z,
-                };
-                s.altitude_agl_m = cfg.planning.flight_altitude_m;
-                s
-            })
-            .collect();
-
-        // Coverage tracker (shared across drones — total area scanned).
-        let mut scanned: HashSet<(u32, u32)> = HashSet::new();
-        // Rolling recent-positions trail for pheromone/potential patterns.
-        let mut visited: Vec<Position3D> = Vec::with_capacity(256);
-
-        // Rollout buffers (flattened across drones).
-        let mut obs_buf: Vec<LocalObservation> = Vec::new();
-        let mut action_buf: Vec<[f32; 4]> = Vec::new();
-        let mut reward_buf: Vec<f32> = Vec::new();
-        let mut value_buf: Vec<f32> = Vec::new();
-        let mut done_buf: Vec<bool> = Vec::new();
-
-        for step in 0..args.steps_per_episode {
-            let is_last = step == args.steps_per_episode - 1;
-
-            // Snapshot peer positions for this tick (observations + repulsion).
-            let positions: Vec<(NodeId, Position3D)> =
-                states.iter().map(|s| (s.id, s.position)).collect();
-
-            // Index needed: mutates states[idx] while reading peer positions; borrow constraints.
-            #[allow(clippy::needless_range_loop)]
-            for idx in 0..states.len() {
-                let prev_pos = states[idx].position;
-                let node_id = states[idx].id;
-
-                // Neighbour positions (everyone except this drone).
-                let neighbors: Vec<(NodeId, Position3D)> = positions
-                    .iter()
-                    .filter(|(id, _)| *id != node_id)
-                    .cloned()
-                    .collect();
-                let peers: Vec<Position3D> = neighbors.iter().map(|(_, p)| *p).collect();
-
-                // Observation from the current (pre-move) state.
-                let obs =
-                    LocalObservation::from_state_no_grid(&states[idx], &neighbors, None, None);
-
-                // --- FlightPattern drives the next waypoint --------------------
-                let ctx = PatternContext {
-                    drone_id: node_id,
-                    swarm_size: args.drones,
-                    current: prev_pos,
-                    area_w,
-                    area_h,
-                    altitude_z,
-                    scan_width_m: scan_w,
-                    step: step as u64,
-                    visited: &visited,
-                    peers: &peers,
-                };
-                let target = flight_pattern.next_target(&ctx);
-
-                // Move one tick toward the target at max_speed (no teleport).
-                let dx = target.x - prev_pos.x;
-                let dy = target.y - prev_pos.y;
-                let dist = dx.hypot(dy);
-                let new_pos = if dist > 1e-9 {
-                    let stepd = dist.min(max_speed);
-                    Position3D {
-                        x: prev_pos.x + dx / dist * stepd,
-                        y: prev_pos.y + dy / dist * stepd,
-                        z: altitude_z,
-                    }
-                } else {
-                    prev_pos
-                };
-                let heading = if dist > 1e-9 { dy.atan2(dx) } else { states[idx].heading_rad };
-                let moved = prev_pos.distance_to(&new_pos);
-
-                // Commit the move to the drone state.
-                {
-                    let s = &mut states[idx];
-                    s.velocity = Velocity3D {
-                        vx: (new_pos.x - prev_pos.x),
-                        vy: (new_pos.y - prev_pos.y),
-                        vz: 0.0,
-                    };
-                    s.position = new_pos;
-                    s.heading_rad = heading;
-                    s.timestamp_ms = s.timestamp_ms.saturating_add(1000);
-                }
-
-                // Coverage: mark scanned footprint, count new cells.
-                let new_cells =
-                    mark_scanned(&mut scanned, &new_pos, scan_w, grid_res, area_w, area_h);
-
-                // Detection: any victim within the scan footprint.
-                let detected = victims.iter().any(|v| new_pos.distance_to(v) < scan_w);
-
-                // Nearest-neighbour distance (for collision shaping).
-                let nearest = peers
-                    .iter()
-                    .map(|p| new_pos.distance_to(p))
-                    .fold(f64::MAX, f64::min);
-
-                // Base extrinsic reward.
-                let ctx_r = RewardContext {
-                    state: &states[idx],
-                    new_cells_covered: new_cells,
-                    victim_confirmed: detected,
-                    contributed_to_triangulation: false,
-                    nearest_neighbor_dist: nearest,
-                    geofence_breached: false,
-                    battery_depleted_without_rth: false,
-                };
-                let base = reward_calc.compute(&ctx_r);
-
-                // Curiosity shaping (only when the learning pattern uses it).
-                let reward = if learn_pattern.uses_curiosity() {
-                    let bonus = curiosity.visit_bonus(new_pos.x, new_pos.y);
-                    shaped_reward(learn_pattern, base, bonus)
-                } else {
-                    base
-                };
-
-                let action = [
-                    heading as f32,
-                    states[idx].altitude_agl_m as f32,
-                    (moved / 1.0) as f32,
-                    0.0,
-                ];
-
-                obs_buf.push(obs);
-                action_buf.push(action);
-                reward_buf.push(reward);
-                value_buf.push(0.0); // bootstrap value (critic learns this)
-                done_buf.push(is_last);
-
-                // Record the move in the shared visited trail (cap length).
-                visited.push(new_pos);
-            }
-
-            // Trim the visited trail to the most recent ~200 positions.
-            if visited.len() > 200 {
-                let drop = visited.len() - 200;
-                visited.drain(0..drop);
-            }
-
-            // Record spatial telemetry for the selected episode only.
-            if let Some(rec) = telem.as_mut() {
-                if episode == args.telemetry_episode {
-                    let frames: Vec<DroneFrame> = states
-                        .iter()
-                        .map(|s| {
-                            let detected =
-                                victims.iter().any(|v| s.position.distance_to(v) < scan_w);
-                            DroneFrame::from_state(s, detected)
-                        })
-                        .collect();
-                    let coverage = scanned.len() as f64 / total_cells;
-                    let _ = rec.step(episode, step, step as f64, &frames, coverage);
-                }
-            }
-        }
-
-        // PPO update on the episode's rollout.
-        let (advantages, returns) = trainer.compute_gae(&reward_buf, &value_buf, &done_buf);
-        let old_log_probs = vec![0.0f32; obs_buf.len()];
-        let (policy_loss, value_loss, _entropy) =
-            trainer.update(&obs_buf, &action_buf, &advantages, &returns, &old_log_probs)?;
-
-        let mean_return = if returns.is_empty() {
-            0.0
-        } else {
-            returns.iter().sum::<f32>() / returns.len() as f32
-        };
-
-        if mean_return > best_return {
-            best_return = mean_return;
-        }
-
-        // Per-episode training-metric telemetry (every episode).
-        if let Some(rec) = telem.as_mut() {
-            let _ = rec.episode(episode, mean_return, policy_loss, value_loss, 0);
-        }
-
-        if episode % 10 == 0 || episode == args.episodes - 1 {
-            let coverage_pct = scanned.len() as f64 / total_cells * 100.0;
-            println!(
-                "ep {:>5}/{}  mean_return={:>8.3}  best={:>8.3}  policy_loss={:>8.4}  value_loss={:>8.4}  coverage={:>5.1}%",
-                episode, args.episodes, mean_return, best_return, policy_loss, value_loss, coverage_pct
-            );
-        }
-
-        // Checkpoint the trained variables periodically.
-        if args.checkpoint_every > 0 && (episode + 1) % args.checkpoint_every == 0
-            || episode == args.episodes - 1
-        {
-            let path = format!("{}/marl-ep{}.safetensors", args.checkpoint_dir, episode + 1);
-            if let Err(e) = trainer.net.varmap().save(&path) {
-                eprintln!("checkpoint save failed at {path}: {e}");
-            } else {
-                println!("checkpoint saved: {path}");
-            }
-        }
-    }
-
-    if let Some(rec) = telem.as_mut() {
-        rec.flush()?;
-        if let Some(path) = &args.telemetry {
-            println!("telemetry written: {path} — open viz/swarm_viz.html and load it");
-        }
-    }
-
-    println!("training complete. best mean_return={best_return:.3}");
-    Ok(())
-}

v2/crates/ruview-swarm/src/config/mod.rs

@@ -1,207 +0,0 @@
-//! TOML-based swarm configuration with mission profiles.
-
-use serde::{Deserialize, Serialize};
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmConfig {
-    pub swarm: SwarmParams,
-    pub formation: FormationConfig,
-    pub planning: PlanningConfig,
-    pub security: SecurityConfig,
-    pub mission: MissionConfig,
-    pub demo: Option<DemoConfig>,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmParams {
-    pub max_agents: usize,
-    pub cluster_size: usize,
-    pub raft_election_timeout_ms: u64,
-    pub raft_heartbeat_ms: u64,
-    pub gossip_fanout: usize,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct FormationConfig {
-    /// "virtual_structure" | "leader_follower" | "reynolds"
-    pub mode: String,
-    pub min_separation_m: f64,
-    pub grid_spacing_m: f64,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct PlanningConfig {
-    pub flight_altitude_m: f64,
-    pub max_speed_ms: f64,
-    /// Wi2SAR validated scan footprint width.
-    pub csi_scan_width_m: f64,
-    pub lateral_overlap_pct: f64,
-    /// P(victim) threshold to trigger Phase 3 convergence.
-    pub convergence_threshold: f32,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SecurityConfig {
-    pub mavlink_signing: bool,
-    pub uwb_antispoofing: bool,
-    pub uwb_tolerance_m: f64,
-    pub geofence_hard_margin_m: f64,
-    pub geofence_soft_margin_m: f64,
-    /// Remote ID broadcast rate in Hz (FAA/EU requirement: ≥ 1 Hz).
-    pub remote_id_broadcast_hz: f64,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct MissionConfig {
-    /// "sar" | "inspection" | "agriculture" | "mine" | "relay"
-    pub profile: String,
-    pub area_width_m: f64,
-    pub area_height_m: f64,
-    pub grid_resolution_m: f64,
-    pub max_flight_time_mins: f64,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct DemoConfig {
-    pub synthetic_csi: bool,
-    /// Victim positions in NED [x, y, z].
-    pub victim_positions: Vec<[f64; 3]>,
-    pub wind_noise_ms: f64,
-    pub csi_noise_std: f64,
-    pub packet_loss_pct: f64,
-    pub replay_speed: f64,
-}
-
-impl SwarmConfig {
-    pub fn from_toml_str(s: &str) -> Result<Self, toml::de::Error> {
-        toml::from_str(s)
-    }
-
-    pub fn sar_default() -> Self {
-        Self {
-            swarm: SwarmParams {
-                max_agents: 12,
-                cluster_size: 4,
-                raft_election_timeout_ms: 300,
-                raft_heartbeat_ms: 100,
-                gossip_fanout: 3,
-            },
-            formation: FormationConfig {
-                mode: "virtual_structure".into(),
-                min_separation_m: 5.0,
-                grid_spacing_m: 20.0,
-            },
-            planning: PlanningConfig {
-                flight_altitude_m: 30.0,
-                max_speed_ms: 8.0,
-                csi_scan_width_m: 28.0,
-                lateral_overlap_pct: 20.0,
-                convergence_threshold: 0.75,
-            },
-            security: SecurityConfig {
-                mavlink_signing: true,
-                uwb_antispoofing: true,
-                uwb_tolerance_m: 2.0,
-                geofence_hard_margin_m: 20.0,
-                geofence_soft_margin_m: 50.0,
-                remote_id_broadcast_hz: 1.0,
-            },
-            mission: MissionConfig {
-                profile: "sar".into(),
-                area_width_m: 500.0,
-                area_height_m: 500.0,
-                grid_resolution_m: 5.0,
-                max_flight_time_mins: 25.0,
-            },
-            demo: None,
-        }
-    }
-
-    pub fn inspection_default() -> Self {
-        let mut cfg = Self::sar_default();
-        cfg.mission.profile = "inspection".into();
-        cfg.planning.flight_altitude_m = 15.0;
-        cfg.planning.max_speed_ms = 4.0;
-        cfg.formation.mode = "leader_follower".into();
-        cfg
-    }
-
-    pub fn agriculture_default() -> Self {
-        let mut cfg = Self::sar_default();
-        cfg.mission.profile = "agriculture".into();
-        cfg.planning.flight_altitude_m = 10.0;
-        cfg.planning.max_speed_ms = 6.0;
-        cfg.planning.csi_scan_width_m = 15.0;
-        cfg.formation.mode = "virtual_structure".into();
-        cfg.formation.grid_spacing_m = 12.0;
-        cfg
-    }
-
-    pub fn mine_default() -> Self {
-        let mut cfg = Self::sar_default();
-        cfg.mission.profile = "mine".into();
-        cfg.planning.flight_altitude_m = 5.0;
-        cfg.planning.max_speed_ms = 2.0;
-        cfg.security.uwb_antispoofing = true; // GPS-denied: UWB only
-        cfg
-    }
-
-    /// Wi2SAR reference configuration (400×400 m, 8 m/s, 4 drones) for ADR-148 SOTA benchmark.
-    /// Produces 223 s coverage estimate — below the 240 s (4-min) SOTA target.
-    /// Source: Wi2SAR (arxiv 2604.09115): single drone, 160,000 m², 13.5 min.
-    pub fn wi2sar_reference() -> Self {
-        let mut cfg = Self::sar_default();
-        cfg.mission.area_width_m = 400.0;
-        cfg.mission.area_height_m = 400.0;
-        cfg.planning.max_speed_ms = 8.0;
-        cfg.planning.csi_scan_width_m = 28.0;
-        cfg.planning.lateral_overlap_pct = 20.0;
-        cfg
-    }
-
-    pub fn demo_default() -> Self {
-        let mut cfg = Self::sar_default();
-        cfg.demo = Some(DemoConfig {
-            synthetic_csi: true,
-            victim_positions: vec![[50.0, 80.0, 0.0], [150.0, 200.0, 0.0], [300.0, 100.0, 0.0]],
-            wind_noise_ms: 2.0,
-            csi_noise_std: 0.05,
-            packet_loss_pct: 5.0,
-            replay_speed: 1.0,
-        });
-        cfg
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_sar_default_serialization() {
-        let cfg = SwarmConfig::sar_default();
-        let toml_str = toml::to_string(&cfg).expect("serialize ok");
-        let parsed = SwarmConfig::from_toml_str(&toml_str).expect("parse ok");
-        assert_eq!(parsed.mission.profile, "sar");
-    }
-
-    #[test]
-    fn test_demo_default_has_victims() {
-        let cfg = SwarmConfig::demo_default();
-        assert!(cfg.demo.is_some());
-        assert_eq!(cfg.demo.unwrap().victim_positions.len(), 3);
-    }
-
-    #[test]
-    fn test_wi2sar_reference_coverage_within_4min() {
-        use crate::demo::scenario::DemoScenario;
-        let scenario = DemoScenario {
-            name: "Wi2SAR Reference".into(),
-            config: SwarmConfig::wi2sar_reference(),
-            num_drones: 4,
-            victims: vec![],
-        };
-        let t = scenario.estimate_coverage_time_secs();
-        assert!(t < 240.0, "4-drone Wi2SAR reference scenario: {}s should be < 240s (4 min SOTA)", t);
-    }
-}

v2/crates/ruview-swarm/src/demo/mod.rs

@@ -1,10 +0,0 @@
-//! Demo scenario runner — synthetic CSI with configurable victim positions.
-//!
-//! Wires together a [`SyntheticCsiGenerator`] and pre-built [`DemoScenario`]
-//! definitions for rapid scenario validation without real hardware.
-
-pub mod synthetic_csi;
-pub mod scenario;
-
-pub use synthetic_csi::SyntheticCsiGenerator;
-pub use scenario::{DemoScenario, ScenarioResult};

v2/crates/ruview-swarm/src/demo/scenario.rs

@@ -1,150 +0,0 @@
-//! Pre-built demo scenarios for rapid validation without hardware.
-//!
-//! Each scenario bundles a [`SwarmConfig`], victim positions, and a
-//! [`SyntheticCsiGenerator`] so integration tests can drive a complete
-//! swarm sim-loop with one call.
-
-use crate::{
-    config::SwarmConfig,
-    types::Position3D,
-};
-use super::synthetic_csi::SyntheticCsiGenerator;
-
-/// A self-contained demo scenario.
-pub struct DemoScenario {
-    pub name: String,
-    pub config: SwarmConfig,
-    pub num_drones: usize,
-    pub victims: Vec<Position3D>,
-}
-
-/// Aggregate results produced after running a scenario.
-#[derive(Debug, Clone)]
-pub struct ScenarioResult {
-    pub victims_found: usize,
-    pub victims_total: usize,
-    pub coverage_time_secs: f64,
-    pub localization_error_m: f64,
-    pub collision_count: u32,
-}
-
-impl DemoScenario {
-    /// Standard SAR rubble-field: 3 victims in a 400 × 400 m area.
-    pub fn sar_rubble_field(num_drones: usize) -> Self {
-        Self {
-            name: "SAR Rubble Field".into(),
-            config: SwarmConfig::demo_default(),
-            num_drones,
-            victims: vec![
-                Position3D { x: 50.0,  y: 80.0,  z: 0.0 },
-                Position3D { x: 150.0, y: 200.0, z: 0.0 },
-                Position3D { x: 300.0, y: 100.0, z: 0.0 },
-            ],
-        }
-    }
-
-    /// Open-field search: single victim, easy detection conditions.
-    pub fn open_field_search(num_drones: usize) -> Self {
-        Self {
-            name: "Open Field Search".into(),
-            config: SwarmConfig::demo_default(),
-            num_drones,
-            victims: vec![
-                Position3D { x: 200.0, y: 150.0, z: 0.0 },
-            ],
-        }
-    }
-
-    /// Mine/GPS-denied: victims in a narrow corridor, low speed.
-    pub fn mine_corridor(num_drones: usize) -> Self {
-        let mut cfg = SwarmConfig::mine_default();
-        cfg.demo = Some(crate::config::DemoConfig {
-            synthetic_csi: true,
-            victim_positions: vec![[30.0, 10.0, -2.0], [80.0, 15.0, -2.0]],
-            wind_noise_ms: 0.1,
-            csi_noise_std: 0.08,
-            packet_loss_pct: 10.0,
-            replay_speed: 0.5,
-        });
-        Self {
-            name: "Mine Corridor GPS-Denied".into(),
-            config: cfg,
-            num_drones,
-            victims: vec![
-                Position3D { x: 30.0, y: 10.0, z: -2.0 },
-                Position3D { x: 80.0, y: 15.0, z: -2.0 },
-            ],
-        }
-    }
-
-    /// Build a [`SyntheticCsiGenerator`] from this scenario's config and victims.
-    pub fn make_csi_generator(&self) -> SyntheticCsiGenerator {
-        let (noise_std, detection_range_m) = self.config.demo.as_ref().map(|d| {
-            (d.csi_noise_std, self.config.planning.csi_scan_width_m / 2.0)
-        }).unwrap_or((0.05, 14.0));
-
-        SyntheticCsiGenerator::new(self.victims.clone(), noise_std, detection_range_m)
-    }
-
-    /// Analytic estimate of coverage time (seconds) for this scenario.
-    ///
-    /// Formula:  `area / (scan_strip × drones) / speed`
-    ///
-    /// where `scan_strip = csi_scan_width_m × (1 − lateral_overlap / 100)`.
-    pub fn estimate_coverage_time_secs(&self) -> f64 {
-        let p = &self.config.planning;
-        let m = &self.config.mission;
-        let area = m.area_width_m * m.area_height_m;
-        let scan_strip = p.csi_scan_width_m * (1.0 - p.lateral_overlap_pct / 100.0);
-        if scan_strip <= 0.0 || p.max_speed_ms <= 0.0 || self.num_drones == 0 {
-            return f64::INFINITY;
-        }
-        let total_track_m = area / scan_strip;
-        let per_drone_track = total_track_m / self.num_drones as f64;
-        per_drone_track / p.max_speed_ms
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_sar_scenario_coverage_estimate_within_10min() {
-        // 4-drone SAR swarm over 500 × 500 m at 8 m/s, 20% overlap, 28 m scan width.
-        // Analytic upper bound: area / (scan_strip × drones × speed)
-        // = 250_000 / (22.4 × 4 × 8) ≈ 349 s (< 600 s = 10 min battery limit).
-        let scenario = DemoScenario::sar_rubble_field(4);
-        let t = scenario.estimate_coverage_time_secs();
-        assert!(
-            t < 600.0,
-            "4-drone SAR coverage estimate {t:.1} s exceeds 600 s (10 min) battery limit"
-        );
-        // Also verify the estimate is positive and finite.
-        assert!(t > 0.0 && t.is_finite(), "coverage estimate {t} must be positive and finite");
-    }
-
-    #[test]
-    fn test_open_field_single_victim() {
-        let scenario = DemoScenario::open_field_search(2);
-        assert_eq!(scenario.victims.len(), 1);
-        assert_eq!(scenario.num_drones, 2);
-    }
-
-    #[test]
-    fn test_mine_scenario_low_speed() {
-        let scenario = DemoScenario::mine_corridor(2);
-        assert!(
-            scenario.config.planning.max_speed_ms <= 3.0,
-            "mine scenario max speed should be ≤ 3 m/s, got {}",
-            scenario.config.planning.max_speed_ms
-        );
-    }
-
-    #[test]
-    fn test_make_csi_generator_victims_match() {
-        let scenario = DemoScenario::sar_rubble_field(4);
-        let gen = scenario.make_csi_generator();
-        assert_eq!(gen.victims.len(), scenario.victims.len());
-    }
-}

v2/crates/ruview-swarm/src/demo/synthetic_csi.rs

@@ -1,140 +0,0 @@
-//! Synthetic CSI generator — simulates WiFi CSI victim detections without hardware.
-//!
-//! Uses exponential distance decay and configurable Gaussian noise to produce
-//! realistic CsiDetection events for scenario testing and demo mode.
-
-use rand::Rng;
-use crate::types::{CsiDetection, NodeId, Position3D};
-
-/// Generates synthetic CSI detection events for a set of victim positions.
-pub struct SyntheticCsiGenerator {
-    /// Ground-truth victim positions in NED metres.
-    pub victims: Vec<Position3D>,
-    /// Std-dev of additive Gaussian noise on confidence and position estimate.
-    pub noise_std: f64,
-    /// Maximum range (metres) at which a drone can detect a victim.
-    pub detection_range_m: f64,
-}
-
-impl SyntheticCsiGenerator {
-    pub fn new(victims: Vec<Position3D>, noise_std: f64, detection_range_m: f64) -> Self {
-        Self { victims, noise_std, detection_range_m }
-    }
-
-    /// Attempt to detect a victim from the given drone position.
-    ///
-    /// Returns the strongest detection within range, or `None` if no victim
-    /// is within `detection_range_m`.  Confidence is modelled as
-    /// `exp(-dist / range)` plus zero-mean Gaussian noise.
-    pub fn detect(
-        &self,
-        drone_id: NodeId,
-        drone_pos: &Position3D,
-        timestamp_ms: u64,
-    ) -> Option<CsiDetection> {
-        let mut rng = rand::thread_rng();
-        let mut best: Option<CsiDetection> = None;
-
-        for victim in &self.victims {
-            let dist = drone_pos.distance_to(victim);
-            if dist >= self.detection_range_m {
-                continue;
-            }
-            // Exponential decay: full confidence at 0 m, ~37% at 1× range
-            let base_conf = (-dist / self.detection_range_m).exp();
-            let noise: f64 = rng.gen_range(-self.noise_std..self.noise_std);
-            let confidence = (base_conf + noise).clamp(0.0, 1.0) as f32;
-
-            if confidence <= 0.4 {
-                continue;
-            }
-
-            // Add positional noise proportional to noise_std
-            let pos_jitter = self.noise_std * 10.0;
-            let est_pos = Position3D {
-                x: victim.x + rng.gen_range(-pos_jitter..pos_jitter),
-                y: victim.y + rng.gen_range(-pos_jitter..pos_jitter),
-                z: victim.z,
-            };
-
-            let det = CsiDetection {
-                drone_id,
-                confidence,
-                victim_position: Some(est_pos),
-                timestamp_ms,
-            };
-
-            // Keep the highest-confidence detection
-            match &best {
-                None => best = Some(det),
-                Some(b) if det.confidence > b.confidence => best = Some(det),
-                _ => {}
-            }
-        }
-
-        best
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_detect_close_victim() {
-        // A victim right on the drone should nearly always return a detection.
-        // Run 20 trials; at least 15 should detect (0.4 threshold at distance 0).
-        let gen = SyntheticCsiGenerator::new(
-            vec![Position3D { x: 0.0, y: 0.0, z: 0.0 }],
-            0.01,
-            28.0,
-        );
-        let mut hits = 0u32;
-        for i in 0..20 {
-            if gen.detect(NodeId(0), &Position3D::zero(), i as u64).is_some() {
-                hits += 1;
-            }
-        }
-        assert!(hits >= 15, "expected ≥15/20 detections at zero range, got {hits}");
-    }
-
-    #[test]
-    fn test_detect_beyond_range_returns_none() {
-        let gen = SyntheticCsiGenerator::new(
-            vec![Position3D { x: 0.0, y: 0.0, z: 0.0 }],
-            0.01,
-            28.0,
-        );
-        let far_pos = Position3D { x: 1000.0, y: 1000.0, z: 0.0 };
-        // All 10 attempts should return None since drone is 1414 m away.
-        for i in 0..10 {
-            assert!(
-                gen.detect(NodeId(0), &far_pos, i).is_none(),
-                "expected no detection at 1414 m"
-            );
-        }
-    }
-
-    #[test]
-    fn test_best_of_two_victims_returned() {
-        // Two victims: one very close (high conf), one just at boundary (low conf).
-        let gen = SyntheticCsiGenerator::new(
-            vec![
-                Position3D { x: 1.0,  y: 0.0, z: 0.0 }, // close
-                Position3D { x: 27.0, y: 0.0, z: 0.0 }, // near boundary
-            ],
-            0.01,
-            28.0,
-        );
-        // Run 10 trials; whenever both return a detection the close one should win.
-        for i in 0..10 {
-            if let Some(det) = gen.detect(NodeId(0), &Position3D::zero(), i) {
-                assert!(
-                    det.confidence >= 0.4,
-                    "returned confidence {:.3} is below threshold",
-                    det.confidence
-                );
-            }
-        }
-    }
-}

v2/crates/ruview-swarm/src/evals/gdop.rs

@@ -1,118 +0,0 @@
-//! Geometric Dilution of Precision (GDOP) for a constellation of observers.
-//!
-//! GDOP quantifies how observer geometry amplifies measurement error into
-//! position-estimate error. Build the geometry matrix `H` of unit
-//! line-of-sight (LOS) vectors from each observer to the target, form the
-//! normal matrix `HᵀH`, invert it, and take `GDOP = sqrt(trace((HᵀH)⁻¹))`.
-//!
-//! For the 2-D (x, y) localization case `H` is `N×2` and `HᵀH` is `2×2`, so a
-//! closed-form 2×2 inverse suffices (no linear-algebra dependency needed).
-//!
-//! Lower GDOP = better geometry: observers spread ~120° apart around the target
-//! give low GDOP; (near-)collinear observers give a singular/ill-conditioned
-//! `HᵀH` → GDOP → ∞.
-
-use crate::types::Position3D;
-
-/// Geometric Dilution of Precision (2-D) for `observers` viewing a `target`.
-///
-/// Lower = better geometry. A ~120° constellation → low GDOP; collinear → very
-/// large (→∞). Returns `None` if fewer than two observers, if any observer is
-/// coincident with the target (undefined LOS), or if the geometry is singular
-/// / degenerate (collinear) so `HᵀH` is not invertible.
-pub fn gdop(observers: &[Position3D], target: &Position3D) -> Option<f64> {
-    if observers.len() < 2 {
-        return None;
-    }
-
-    // Accumulate HᵀH directly (2×2 symmetric) from unit LOS vectors.
-    // Row i of H is the unit vector from target → observer i in (x, y).
-    let mut a = 0.0; // sum ux*ux
-    let mut b = 0.0; // sum ux*uy
-    let mut d = 0.0; // sum uy*uy
-
-    for obs in observers {
-        let dx = obs.x - target.x;
-        let dy = obs.y - target.y;
-        let range = (dx * dx + dy * dy).sqrt();
-        if range < 1e-9 {
-            // Observer on top of the target → LOS undefined.
-            return None;
-        }
-        let ux = dx / range;
-        let uy = dy / range;
-        a += ux * ux;
-        b += ux * uy;
-        d += uy * uy;
-    }
-
-    // Determinant of HᵀH = [[a, b], [b, d]].
-    let det = a * d - b * b;
-    if det.abs() < 1e-12 {
-        // Singular: observers are (near-)collinear with the target.
-        return None;
-    }
-
-    // (HᵀH)⁻¹ = 1/det * [[d, -b], [-b, a]]; trace = (d + a) / det.
-    let trace_inv = (a + d) / det;
-    if trace_inv <= 0.0 || !trace_inv.is_finite() {
-        return None;
-    }
-    Some(trace_inv.sqrt())
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn p(x: f64, y: f64) -> Position3D {
-        Position3D { x, y, z: 0.0 }
-    }
-
-    #[test]
-    fn test_triangle_lower_than_collinear() {
-        let target = p(0.0, 0.0);
-        // Three observers at 120° around the target, radius 10.
-        let r = 10.0;
-        let triangle = [
-            p(r * 0.0_f64.cos(), r * 0.0_f64.sin()),
-            p(
-                r * (2.0 * std::f64::consts::PI / 3.0).cos(),
-                r * (2.0 * std::f64::consts::PI / 3.0).sin(),
-            ),
-            p(
-                r * (4.0 * std::f64::consts::PI / 3.0).cos(),
-                r * (4.0 * std::f64::consts::PI / 3.0).sin(),
-            ),
-        ];
-        // Three nearly-collinear observers (tiny y perturbation to stay invertible).
-        let near_collinear = [p(5.0, 0.01), p(10.0, 0.0), p(15.0, 0.01)];
-
-        let tri = gdop(&triangle, &target).expect("triangle finite GDOP");
-        let col = gdop(&near_collinear, &target).expect("near-collinear finite GDOP");
-        assert!(tri.is_finite(), "triangle GDOP must be finite: {tri}");
-        assert!(
-            tri < col,
-            "120° constellation should have lower GDOP than near-collinear: tri={tri}, col={col}"
-        );
-    }
-
-    #[test]
-    fn test_collinear_degenerate() {
-        let target = p(0.0, 0.0);
-        // Perfectly collinear observers along +x → singular HᵀH.
-        let collinear = [p(5.0, 0.0), p(10.0, 0.0), p(20.0, 0.0)];
-        let g = gdop(&collinear, &target);
-        assert!(
-            g.is_none() || g.unwrap() > 1e6,
-            "perfectly collinear geometry must be None or huge, got {g:?}"
-        );
-    }
-
-    #[test]
-    fn test_single_observer_none() {
-        let target = p(0.0, 0.0);
-        assert!(gdop(&[p(5.0, 5.0)], &target).is_none());
-        assert!(gdop(&[], &target).is_none());
-    }
-}

v2/crates/ruview-swarm/src/evals/metrics.rs

@@ -1,150 +0,0 @@
-//! Per-episode and aggregate SAR + MARL metrics (ADR-171 Stage 1).
-
-use crate::evals::stats::{stratified_bootstrap_ci, ConfidenceInterval};
-
-/// Per-episode SAR metrics (Stage 1 kinematic).
-#[derive(Debug, Clone)]
-pub struct EpisodeMetrics {
-    /// Fraction of the mission area scanned at least once, in [0, 1].
-    pub coverage_pct: f64,
-    /// Localization error (m) of the fused victim estimate; `None` if no detection.
-    pub localization_error_m: Option<f64>,
-    /// GDOP of the contributing-drone constellation at detection; `None` if none.
-    pub gdop_at_detection: Option<f64>,
-    /// Mission-elapsed seconds to first detection; `None` if no detection.
-    pub time_to_first_detection_s: Option<f64>,
-    /// Whether at least one victim was detected this episode.
-    pub detected: bool,
-    /// Count of inter-drone proximity violations (kinematic proxy for collisions).
-    pub collisions: u32,
-    /// Fraction of scanned area covered by more than one drone, in [0, 1].
-    pub overlap_ratio: f64,
-    /// Scalar episodic return (reward-like coverage/detection objective).
-    pub episodic_return: f64,
-}
-
-/// Aggregate over a seed × episode matrix with IQM + 95% bootstrap CIs.
-#[derive(Debug, Clone)]
-pub struct AggregateMetrics {
-    pub coverage_iqm: ConfidenceInterval,
-    /// IQM over detected episodes only (undetected episodes carry no error).
-    pub localization_iqm: ConfidenceInterval,
-    pub detection_rate: f64,
-    pub mean_gdop: f64,
-    pub return_iqm: ConfidenceInterval,
-    pub n_episodes: usize,
-}
-
-impl AggregateMetrics {
-    /// Aggregate a seed-stratified matrix of episodes. Each inner `Vec` is one
-    /// seed's episodes; bootstrap resampling is stratified by seed so the CI
-    /// reflects between-seed variance (the dominant source per ADR-171).
-    pub fn from_strata(per_seed: &[Vec<EpisodeMetrics>], boot_seed: u64) -> Self {
-        const N_BOOT: usize = 1000;
-
-        let coverage_strata: Vec<Vec<f64>> = per_seed
-            .iter()
-            .map(|s| s.iter().map(|e| e.coverage_pct).collect())
-            .collect();
-        let return_strata: Vec<Vec<f64>> = per_seed
-            .iter()
-            .map(|s| s.iter().map(|e| e.episodic_return).collect())
-            .collect();
-        // Localization: only detected episodes contribute. Keep stratification
-        // by seed but drop empty strata so the bootstrap doesn't degenerate.
-        let loc_strata: Vec<Vec<f64>> = per_seed
-            .iter()
-            .map(|s| {
-                s.iter()
-                    .filter_map(|e| e.localization_error_m)
-                    .collect::<Vec<f64>>()
-            })
-            .filter(|v: &Vec<f64>| !v.is_empty())
-            .collect();
-
-        let mut detected = 0usize;
-        let mut total = 0usize;
-        let mut gdop_sum = 0.0;
-        let mut gdop_n = 0usize;
-        for seed in per_seed {
-            for e in seed {
-                total += 1;
-                if e.detected {
-                    detected += 1;
-                }
-                if let Some(g) = e.gdop_at_detection {
-                    if g.is_finite() {
-                        gdop_sum += g;
-                        gdop_n += 1;
-                    }
-                }
-            }
-        }
-
-        let detection_rate = if total == 0 {
-            0.0
-        } else {
-            detected as f64 / total as f64
-        };
-        let mean_gdop = if gdop_n == 0 {
-            0.0
-        } else {
-            gdop_sum / gdop_n as f64
-        };
-
-        AggregateMetrics {
-            coverage_iqm: stratified_bootstrap_ci(&coverage_strata, N_BOOT, boot_seed),
-            localization_iqm: stratified_bootstrap_ci(
-                &loc_strata,
-                N_BOOT,
-                boot_seed.wrapping_add(1),
-            ),
-            detection_rate,
-            mean_gdop,
-            return_iqm: stratified_bootstrap_ci(
-                &return_strata,
-                N_BOOT,
-                boot_seed.wrapping_add(2),
-            ),
-            n_episodes: total,
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn ep(cov: f64, loc: Option<f64>, ret: f64, detected: bool) -> EpisodeMetrics {
-        EpisodeMetrics {
-            coverage_pct: cov,
-            localization_error_m: loc,
-            gdop_at_detection: if detected { Some(2.0) } else { None },
-            time_to_first_detection_s: if detected { Some(10.0) } else { None },
-            detected,
-            collisions: 0,
-            overlap_ratio: 0.1,
-            episodic_return: ret,
-        }
-    }
-
-    #[test]
-    fn test_aggregate_detection_rate_and_shape() {
-        let per_seed = vec![
-            vec![
-                ep(0.8, Some(1.5), 80.0, true),
-                ep(0.7, None, 70.0, false),
-            ],
-            vec![
-                ep(0.9, Some(2.0), 90.0, true),
-                ep(0.85, Some(1.0), 85.0, true),
-            ],
-        ];
-        let agg = AggregateMetrics::from_strata(&per_seed, 7);
-        assert_eq!(agg.n_episodes, 4);
-        assert!((agg.detection_rate - 0.75).abs() < 1e-9);
-        assert!(agg.coverage_iqm.lo <= agg.coverage_iqm.point);
-        assert!(agg.coverage_iqm.point <= agg.coverage_iqm.hi);
-        assert!(agg.mean_gdop > 0.0);
-    }
-}

v2/crates/ruview-swarm/src/evals/mod.rs

@@ -1,19 +0,0 @@
-//! ADR-171 statistically-rigorous evaluation harness (Stage 1, kinematic).
-//!
-//! Produces SAR + MARL metrics over a seeded N-seed × M-episode matrix with
-//! IQM + 95% stratified-bootstrap CIs, a (sigma, kappa) CSI-noise sweep, and
-//! GDOP-stratified localization error. Generates evals/RESULTS.md.
-//!
-//! Stage 2 (Gazebo/PX4 SITL high-fidelity, false-alarm + collision rate on the
-//! median seeds) is a follow-on — see ADR-171 §6.1.
-pub mod gdop;
-pub mod stats;
-pub mod metrics;
-pub mod runner;
-pub mod report;
-
-pub use gdop::gdop;
-pub use stats::{iqm, stratified_bootstrap_ci, ConfidenceInterval};
-pub use metrics::{EpisodeMetrics, AggregateMetrics};
-pub use runner::{EvalConfig, NoiseLevel, run_matrix};
-pub use report::render_results_md;

v2/crates/ruview-swarm/src/evals/report.rs

@@ -1,120 +0,0 @@
-//! RESULTS.md leaderboard generator (ADR-171 Stage 1).
-
-use crate::evals::metrics::AggregateMetrics;
-use crate::evals::stats::ConfidenceInterval;
-
-/// Wi2SAR published localization baseline (paper-to-paper), metres.
-const WI2SAR_LOCALIZATION_M: f64 = 5.0;
-
-/// Format a CI as `point [lo, hi]` with two decimals.
-fn fmt_ci(ci: &ConfidenceInterval) -> String {
-    format!("{:.3} [{:.3}, {:.3}]", ci.point, ci.lo, ci.hi)
-}
-
-/// Render a markdown leaderboard: one row per flight pattern with coverage
-/// IQM±CI, localization IQM±CI, detection rate, and mean GDOP — plus the
-/// Wi2SAR paper baseline row clearly labelled paper-to-paper.
-///
-/// `rows` is `(pattern_name, aggregate)`; rows are emitted in the order given,
-/// so callers should pre-sort (e.g. by descending coverage point estimate).
-pub fn render_results_md(rows: &[(String, AggregateMetrics)]) -> String {
-    let mut s = String::new();
-    s.push_str("# ruview-swarm Evaluation Results (ADR-171 Stage 1, kinematic)\n\n");
-    s.push_str(
-        "Statistically-rigorous evaluation harness: seeded multi-run rollouts with \
-         IQM + 95% stratified-bootstrap confidence intervals (Agarwal et al., \
-         NeurIPS 2021).\n\n",
-    );
-
-    // Run configuration header.
-    let (n_episodes, n_seeds) = rows
-        .first()
-        .map(|(_, a)| {
-            let n = a.n_episodes;
-            // Episodes-per-seed isn't stored; report total + leave seed split to caller note.
-            (n, 0usize)
-        })
-        .unwrap_or((0, 0));
-    s.push_str("## Run configuration\n\n");
-    s.push_str(&format!(
-        "- **Stage**: 1 (kinematic, self-contained, deterministic per seed)\n\
-         - **Episodes per pattern**: {n_episodes} (seed × episode matrix)\n\
-         - **CI method**: 95% stratified bootstrap of the IQM, stratified by seed\n\
-         - **GDOP**: 2-D geometric dilution of precision at first detection\n"
-    ));
-    let _ = n_seeds;
-    s.push_str(
-        "\n> **Stage 2 pending**: high-fidelity Gazebo/PX4 SITL evaluation \
-         (false-alarm rate, real collision rate on the median seeds) is a \
-         follow-on — see ADR-171 §6.1. The collision figures below are a \
-         kinematic min-separation proxy, not SITL physics.\n\n",
-    );
-
-    // Leaderboard table.
-    s.push_str("## Flight-pattern leaderboard\n\n");
-    s.push_str(
-        "| Flight pattern | Coverage IQM [95% CI] | Localization (m) IQM [95% CI] | \
-         Detection rate | Mean GDOP |\n",
-    );
-    s.push_str(
-        "|----------------|-----------------------|-------------------------------|\
-         ----------------|-----------|\n",
-    );
-    for (name, agg) in rows {
-        s.push_str(&format!(
-            "| {} | {} | {} | {:.1}% | {:.3} |\n",
-            name,
-            fmt_ci(&agg.coverage_iqm),
-            fmt_ci(&agg.localization_iqm),
-            agg.detection_rate * 100.0,
-            agg.mean_gdop,
-        ));
-    }
-    // Wi2SAR paper baseline row (paper-to-paper, no kinematic re-run).
-    s.push_str(&format!(
-        "| _Wi2SAR (paper baseline)_ | _n/a_ | _{:.1} (paper)_ | _n/a_ | _n/a_ |\n",
-        WI2SAR_LOCALIZATION_M,
-    ));
-
-    s.push_str(
-        "\n_Wi2SAR row is the published single-drone localization figure \
-         (arxiv 2604.09115), shown paper-to-paper for reference only — it was \
-         not re-run through this kinematic harness._\n",
-    );
-
-    s
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::evals::stats::ConfidenceInterval;
-
-    fn agg(cov: f64, det: f64) -> AggregateMetrics {
-        let ci = |p: f64| ConfidenceInterval { point: p, lo: p - 0.05, hi: p + 0.05 };
-        AggregateMetrics {
-            coverage_iqm: ci(cov),
-            localization_iqm: ci(1.5),
-            detection_rate: det,
-            mean_gdop: 2.1,
-            return_iqm: ci(80.0),
-            n_episodes: 100,
-        }
-    }
-
-    #[test]
-    fn test_render_contains_rows_and_baseline() {
-        let rows = vec![
-            ("partitioned_lawnmower".to_string(), agg(0.92, 0.95)),
-            ("levy_flight".to_string(), agg(0.40, 0.50)),
-        ];
-        let md = render_results_md(&rows);
-        assert!(md.contains("partitioned_lawnmower"));
-        assert!(md.contains("levy_flight"));
-        assert!(md.contains("Wi2SAR"));
-        assert!(md.contains("Stage 2 pending"));
-        assert!(md.contains("95% stratified bootstrap"));
-        // Coverage point estimate appears.
-        assert!(md.contains("0.920"));
-    }
-}

v2/crates/ruview-swarm/src/evals/runner.rs

@@ -1,364 +0,0 @@
-//! Stage-1 kinematic rollout + seed × episode matrix (ADR-171).
-//!
-//! A single `run_episode` deterministically drives `drones` drones across a
-//! mission area under a chosen [`FlightPattern`], marks coverage on a grid,
-//! simulates CSI victim detection perturbed by `(sigma, kappa)` amplitude /
-//! von-Mises-phase noise, and computes the GDOP of the contributing-drone
-//! constellation at first detection. It is self-contained and seeded — no
-//! Candle / training backend required — so it runs in CI by default.
-
-use crate::config::SwarmConfig;
-use crate::evals::gdop::gdop;
-use crate::evals::metrics::EpisodeMetrics;
-use crate::planning::patterns::{FlightPattern, PatternContext};
-use crate::types::{NodeId, Position3D};
-
-/// CSI-noise level: amplitude std `sigma` and von-Mises phase concentration `kappa`.
-/// Higher `sigma` = noisier amplitude; *lower* `kappa` = noisier phase (more diffuse).
-#[derive(Debug, Clone, Copy)]
-pub struct NoiseLevel {
-    pub sigma: f64,
-    pub kappa: f64,
-}
-
-/// One evaluation configuration: a flight pattern + swarm/mission parameters.
-#[derive(Debug, Clone)]
-pub struct EvalConfig {
-    pub flight: FlightPattern,
-    pub config: SwarmConfig,
-    pub drones: usize,
-    pub steps: usize,
-    pub seeds: usize,             // ≥10 per ADR-171
-    pub episodes_per_seed: usize, // e.g. 50
-    pub victims: Vec<Position3D>,
-    pub noise: NoiseLevel,
-}
-
-impl EvalConfig {
-    /// A small SAR default suitable for fast CI runs.
-    pub fn sar_small(flight: FlightPattern) -> Self {
-        EvalConfig {
-            flight,
-            config: SwarmConfig::sar_default(),
-            drones: 4,
-            steps: 120,
-            seeds: 10,
-            episodes_per_seed: 10,
-            victims: vec![
-                Position3D { x: 120.0, y: 90.0, z: 0.0 },
-                Position3D { x: 320.0, y: 280.0, z: 0.0 },
-            ],
-            noise: NoiseLevel { sigma: 0.05, kappa: 8.0 },
-        }
-    }
-}
-
-/// Minimal reproducible LCG → f64 in [0, 1). Self-contained for determinism.
-struct Lcg(u64);
-impl Lcg {
-    fn new(seed: u64) -> Self {
-        Lcg(seed ^ 0xD1B5_4A32_D192_ED03)
-    }
-    #[inline]
-    fn next_u64(&mut self) -> u64 {
-        self.0 = self
-            .0
-            .wrapping_mul(6364136223846793005)
-            .wrapping_add(1442695040888963407);
-        self.0
-    }
-    #[inline]
-    fn unit(&mut self) -> f64 {
-        (self.next_u64() >> 11) as f64 / (1u64 << 53) as f64
-    }
-    /// Standard-normal sample via Box–Muller (deterministic).
-    #[inline]
-    fn normal(&mut self) -> f64 {
-        let u1 = self.unit().max(1e-12);
-        let u2 = self.unit();
-        (-2.0 * u1.ln()).sqrt() * (2.0 * std::f64::consts::PI * u2).cos()
-    }
-}
-
-/// Run one kinematic episode deterministically from `seed`.
-///
-/// Drives drones step-by-step by the flight pattern, marks a coarse coverage
-/// grid, and on the first step a drone comes within scan range of any victim
-/// records a fused localization estimate (weighted centroid of contributing
-/// drones' per-drone victim estimates, each perturbed by `(sigma, kappa)`
-/// noise) and the GDOP of those contributing drones.
-pub fn run_episode(cfg: &EvalConfig, seed: u64) -> EpisodeMetrics {
-    let mut rng = Lcg::new(seed);
-
-    let area_w = cfg.config.mission.area_width_m;
-    let area_h = cfg.config.mission.area_height_m;
-    let altitude_z = -cfg.config.planning.flight_altitude_m;
-    let scan_width = cfg.config.planning.csi_scan_width_m.max(1.0);
-    let min_sep = cfg.config.formation.min_separation_m.max(0.1);
-    let n = cfg.drones.max(1);
-
-    // Coverage grid sized so each cell ~= scan_width.
-    let gx = ((area_w / scan_width).ceil() as usize).max(1);
-    let gy = ((area_h / scan_width).ceil() as usize).max(1);
-    let cell_w = area_w / gx as f64;
-    let cell_h = area_h / gy as f64;
-    let mut cover_count = vec![0u32; gx * gy];
-
-    // Spread drones along the bottom edge with a small seeded jitter.
-    let mut positions: Vec<Position3D> = (0..n)
-        .map(|i| {
-            let frac = (i as f64 + 0.5) / n as f64;
-            Position3D {
-                x: (frac * area_w + (rng.unit() - 0.5) * scan_width).clamp(0.0, area_w),
-                y: (rng.unit() * scan_width).clamp(0.0, area_h),
-                z: altitude_z,
-            }
-        })
-        .collect();
-
-    // Recent-visit ring buffer for pheromone / potential-field patterns.
-    let mut visited: Vec<Position3D> = Vec::new();
-    let max_visited = 32usize;
-
-    let scan_range = scan_width; // detect a victim within one scan footprint
-    let mut collisions = 0u32;
-    let mut detected = false;
-    let mut loc_error: Option<f64> = None;
-    let mut gdop_val: Option<f64> = None;
-    let mut t_detect: Option<f64> = None;
-
-    let dt = step_seconds(cfg);
-
-    for step in 0..cfg.steps {
-        // Advance each drone one waypoint under the pattern.
-        let snapshot = positions.clone();
-        for (i, pos) in positions.iter_mut().enumerate() {
-            let peers: Vec<Position3D> = snapshot
-                .iter()
-                .enumerate()
-                .filter(|(j, _)| *j != i)
-                .map(|(_, p)| *p)
-                .collect();
-            let ctx = PatternContext {
-                drone_id: NodeId(i as u32),
-                swarm_size: n,
-                current: *pos,
-                area_w,
-                area_h,
-                altitude_z,
-                scan_width_m: scan_width,
-                step: step as u64,
-                visited: &visited,
-                peers: &peers,
-            };
-            *pos = cfg.flight.next_target(&ctx);
-        }
-
-        // Mark coverage + record visits.
-        for pos in &positions {
-            let cx = ((pos.x / cell_w).floor() as i64).clamp(0, gx as i64 - 1) as usize;
-            let cy = ((pos.y / cell_h).floor() as i64).clamp(0, gy as i64 - 1) as usize;
-            cover_count[cy * gx + cx] = cover_count[cy * gx + cx].saturating_add(1);
-            visited.push(*pos);
-        }
-        if visited.len() > max_visited {
-            let drop = visited.len() - max_visited;
-            visited.drain(0..drop);
-        }
-
-        // Proximity / collision check (kinematic proxy).
-        for a in 0..positions.len() {
-            for b in (a + 1)..positions.len() {
-                let d = positions[a].distance_to(&positions[b]);
-                if d < min_sep {
-                    collisions = collisions.saturating_add(1);
-                }
-            }
-        }
-
-        // Detection: first step any victim falls within scan range of ≥1 drone,
-        // fuse a localization estimate from the contributing drones. A single
-        // contributor still yields a (noisier) estimate; GDOP is only defined
-        // for the multistatic ≥2-drone case and is `None` otherwise.
-        if !detected {
-            for victim in &cfg.victims {
-                let contributors: Vec<Position3D> = positions
-                    .iter()
-                    .filter(|p| horiz_dist(p, victim) <= scan_range)
-                    .copied()
-                    .collect();
-                if !contributors.is_empty() {
-                    let (est, g) = fuse_estimate(&contributors, victim, cfg.noise, &mut rng);
-                    loc_error = Some(horiz_dist(&est, victim));
-                    gdop_val = g; // None for a single contributor
-                    t_detect = Some((step as f64 + 1.0) * dt);
-                    detected = true;
-                    break;
-                }
-            }
-        }
-    }
-
-    // Coverage + overlap.
-    let total_cells = (gx * gy) as f64;
-    let scanned = cover_count.iter().filter(|&&c| c > 0).count() as f64;
-    let overlapped = cover_count.iter().filter(|&&c| c > 1).count() as f64;
-    let coverage_pct = if total_cells > 0.0 { scanned / total_cells } else { 0.0 };
-    let overlap_ratio = if scanned > 0.0 { overlapped / scanned } else { 0.0 };
-
-    // Episodic return: reward coverage + detection, penalize overlap + collisions.
-    let detect_bonus = if detected { 1.0 } else { 0.0 };
-    let loc_term = match loc_error {
-        Some(e) => (1.0 / (1.0 + e)).max(0.0),
-        None => 0.0,
-    };
-    let episodic_return = 100.0 * coverage_pct + 30.0 * detect_bonus + 20.0 * loc_term
-        - 10.0 * overlap_ratio
-        - 5.0 * collisions as f64;
-
-    EpisodeMetrics {
-        coverage_pct,
-        localization_error_m: loc_error,
-        gdop_at_detection: gdop_val,
-        time_to_first_detection_s: t_detect,
-        detected,
-        collisions,
-        overlap_ratio,
-        episodic_return,
-    }
-}
-
-/// Per-step wall-clock seconds, derived from scan width and drone speed.
-fn step_seconds(cfg: &EvalConfig) -> f64 {
-    let speed = cfg.config.planning.max_speed_ms.max(0.1);
-    (cfg.config.planning.csi_scan_width_m.max(1.0) / speed).max(0.1)
-}
-
-/// Horizontal (x, y) distance, ignoring altitude.
-fn horiz_dist(a: &Position3D, b: &Position3D) -> f64 {
-    (a.x - b.x).hypot(a.y - b.y)
-}
-
-/// Fuse contributing drones' per-drone victim estimates into a weighted
-/// centroid, perturbed by `(sigma, kappa)` CSI noise, and compute the GDOP of
-/// the contributing constellation.
-fn fuse_estimate(
-    contributors: &[Position3D],
-    victim: &Position3D,
-    noise: NoiseLevel,
-    rng: &mut Lcg,
-) -> (Position3D, Option<f64>) {
-    // Phase noise std from von Mises concentration: sigma_phase ≈ 1/sqrt(kappa).
-    let phase_std = 1.0 / noise.kappa.max(1e-3).sqrt();
-    let mut sx = 0.0;
-    let mut sy = 0.0;
-    let mut wsum = 0.0;
-    for c in contributors {
-        let range = horiz_dist(c, victim).max(1e-6);
-        // Each drone's estimate = true victim + range-scaled amplitude noise +
-        // bearing error from phase noise (perpendicular to LOS).
-        let amp = noise.sigma * range;
-        let nx = rng.normal() * amp;
-        let ny = rng.normal() * amp;
-        // Bearing wobble: rotate LOS unit vector by a small phase-noise angle.
-        let bearing = (victim.y - c.y).atan2(victim.x - c.x);
-        let dtheta = rng.normal() * phase_std;
-        let bx = range * (bearing + dtheta).cos();
-        let by = range * (bearing + dtheta).sin();
-        let est_x = c.x + bx + nx;
-        let est_y = c.y + by + ny;
-        // Inverse-range weighting: closer drones trusted more.
-        let w = 1.0 / range;
-        sx += est_x * w;
-        sy += est_y * w;
-        wsum += w;
-    }
-    let w = wsum.max(1e-9);
-    let est = Position3D { x: sx / w, y: sy / w, z: 0.0 };
-    let g = gdop(contributors, victim);
-    (est, g)
-}
-
-/// Run the full seed × episode matrix → per-seed strata of [`EpisodeMetrics`].
-pub fn run_matrix(cfg: &EvalConfig) -> Vec<Vec<EpisodeMetrics>> {
-    (0..cfg.seeds)
-        .map(|s| {
-            (0..cfg.episodes_per_seed)
-                .map(|e| {
-                    // Distinct deterministic seed per (seed, episode) cell.
-                    let cell_seed = (s as u64)
-                        .wrapping_mul(0x100_0000)
-                        .wrapping_add(e as u64)
-                        .wrapping_add(0xABCD);
-                    run_episode(cfg, cell_seed)
-                })
-                .collect()
-        })
-        .collect()
-}
-
-/// Standard ADR-171 noise sweep grid: cartesian product of σ × κ levels.
-pub fn default_noise_sweep() -> Vec<NoiseLevel> {
-    let sigmas = [0.02, 0.05, 0.10];
-    let kappas = [16.0, 8.0, 4.0];
-    let mut out = Vec::with_capacity(sigmas.len() * kappas.len());
-    for &sigma in &sigmas {
-        for &kappa in &kappas {
-            out.push(NoiseLevel { sigma, kappa });
-        }
-    }
-    out
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_run_episode_deterministic() {
-        let cfg = EvalConfig::sar_small(FlightPattern::PartitionedLawnmower);
-        let a = run_episode(&cfg, 12345);
-        let b = run_episode(&cfg, 12345);
-        assert_eq!(a.coverage_pct, b.coverage_pct);
-        assert_eq!(a.detected, b.detected);
-        assert_eq!(a.localization_error_m, b.localization_error_m);
-        assert_eq!(a.collisions, b.collisions);
-        assert_eq!(a.episodic_return, b.episodic_return);
-    }
-
-    #[test]
-    fn test_partitioned_beats_levy_coverage() {
-        let mut part = EvalConfig::sar_small(FlightPattern::PartitionedLawnmower);
-        part.seeds = 3;
-        part.episodes_per_seed = 5;
-        let mut levy = part.clone();
-        levy.flight = FlightPattern::LevyFlight;
-
-        let part_m = run_matrix(&part);
-        let levy_m = run_matrix(&levy);
-        let part_agg = crate::evals::metrics::AggregateMetrics::from_strata(&part_m, 1);
-        let levy_agg = crate::evals::metrics::AggregateMetrics::from_strata(&levy_m, 1);
-        assert!(
-            part_agg.coverage_iqm.point > levy_agg.coverage_iqm.point,
-            "partitioned coverage {} should beat levy {}",
-            part_agg.coverage_iqm.point,
-            levy_agg.coverage_iqm.point
-        );
-    }
-
-    #[test]
-    fn test_matrix_shape() {
-        let mut cfg = EvalConfig::sar_small(FlightPattern::Spiral);
-        cfg.seeds = 4;
-        cfg.episodes_per_seed = 6;
-        let m = run_matrix(&cfg);
-        assert_eq!(m.len(), 4);
-        assert!(m.iter().all(|s| s.len() == 6));
-    }
-
-    #[test]
-    fn test_noise_sweep_grid() {
-        let sweep = default_noise_sweep();
-        assert_eq!(sweep.len(), 9);
-    }
-}

v2/crates/ruview-swarm/src/evals/stats.rs

@@ -1,203 +0,0 @@
-//! Hand-rolled robust statistics for the evaluation harness (Agarwal 2021).
-//!
-//! Implements the interquartile mean (IQM), a 95% stratified-bootstrap
-//! confidence interval of the IQM, and the probability-of-improvement metric —
-//! the three statistics recommended by "Deep RL at the Edge of the
-//! Statistical Precipice" (Agarwal et al., NeurIPS 2021) for reporting
-//! few-seed RL results.
-//!
-//! All randomness comes from a local linear-congruential generator (LCG) seeded
-//! explicitly, so every CI is fully reproducible — no `thread_rng`, no clock.
-
-/// Interquartile mean: mean of the middle 50% of samples (drop the bottom 25%
-/// and the top 25%). Robust to outliers in either tail.
-///
-/// Small-N behaviour: with fewer than 4 samples the trim would empty the set,
-/// so it falls back to the plain arithmetic mean. An empty slice returns 0.0.
-pub fn iqm(samples: &[f64]) -> f64 {
-    if samples.is_empty() {
-        return 0.0;
-    }
-    if samples.len() < 4 {
-        return samples.iter().sum::<f64>() / samples.len() as f64;
-    }
-    let mut sorted = samples.to_vec();
-    sorted.sort_by(|a, b| a.partial_cmp(b).unwrap_or(std::cmp::Ordering::Equal));
-    let n = sorted.len();
-    let lo = n / 4; // trim bottom 25%
-    let hi = n - lo; // trim top 25% (symmetric)
-    let mid = &sorted[lo..hi];
-    if mid.is_empty() {
-        return sorted.iter().sum::<f64>() / n as f64;
-    }
-    mid.iter().sum::<f64>() / mid.len() as f64
-}
-
-/// A point estimate with its lower / upper 95% confidence bounds.
-#[derive(Debug, Clone, Copy)]
-pub struct ConfidenceInterval {
-    pub point: f64,
-    pub lo: f64,
-    pub hi: f64,
-}
-
-/// Minimal reproducible LCG (Numerical Recipes constants) yielding f64 in [0,1).
-struct Lcg(u64);
-
-impl Lcg {
-    fn new(seed: u64) -> Self {
-        // Avoid a zero state collapsing the generator.
-        Lcg(seed ^ 0x9E37_79B9_7F4A_7C15)
-    }
-    #[inline]
-    fn next_u64(&mut self) -> u64 {
-        self.0 = self
-            .0
-            .wrapping_mul(6364136223846793005)
-            .wrapping_add(1442695040888963407);
-        self.0
-    }
-    /// Uniform index in [0, n).
-    #[inline]
-    fn index(&mut self, n: usize) -> usize {
-        if n == 0 {
-            return 0;
-        }
-        (self.next_u64() >> 11) as usize % n
-    }
-}
-
-/// 95% stratified-bootstrap CI of the IQM.
-///
-/// `strata` groups samples (one inner `Vec` per stratum, e.g. per task or per
-/// seed). Each bootstrap replicate resamples WITH replacement *within* each
-/// stratum (preserving the stratum sizes), pools all resampled values, and
-/// recomputes the IQM. Repeat `n_boot` times and take the 2.5 / 97.5
-/// percentiles for the CI bounds. The `point` estimate is the IQM of the pooled
-/// original samples. Deterministic for a fixed `seed`.
-pub fn stratified_bootstrap_ci(
-    strata: &[Vec<f64>],
-    n_boot: usize,
-    seed: u64,
-) -> ConfidenceInterval {
-    let pooled: Vec<f64> = strata.iter().flatten().copied().collect();
-    let point = iqm(&pooled);
-
-    if pooled.is_empty() || n_boot == 0 {
-        return ConfidenceInterval { point, lo: point, hi: point };
-    }
-
-    let mut rng = Lcg::new(seed);
-    let mut replicates = Vec::with_capacity(n_boot);
-    let mut buf: Vec<f64> = Vec::with_capacity(pooled.len());
-
-    for _ in 0..n_boot {
-        buf.clear();
-        for stratum in strata {
-            let m = stratum.len();
-            for _ in 0..m {
-                buf.push(stratum[rng.index(m)]);
-            }
-        }
-        replicates.push(iqm(&buf));
-    }
-
-    replicates.sort_by(|a, b| a.partial_cmp(b).unwrap_or(std::cmp::Ordering::Equal));
-    let lo = percentile(&replicates, 2.5);
-    let hi = percentile(&replicates, 97.5);
-    ConfidenceInterval { point, lo, hi }
-}
-
-/// Linear-interpolated percentile of a pre-sorted slice. `p` in [0, 100].
-fn percentile(sorted: &[f64], p: f64) -> f64 {
-    if sorted.is_empty() {
-        return 0.0;
-    }
-    if sorted.len() == 1 {
-        return sorted[0];
-    }
-    let rank = (p / 100.0) * (sorted.len() as f64 - 1.0);
-    let lo = rank.floor() as usize;
-    let hi = rank.ceil() as usize;
-    if lo == hi {
-        return sorted[lo];
-    }
-    let frac = rank - lo as f64;
-    sorted[lo] * (1.0 - frac) + sorted[hi] * frac
-}
-
-/// Probability of improvement: P(a-sample > b-sample) over all pairs (Agarwal).
-///
-/// Counts each (a_i, b_j) pair where `a_i > b_j` as 1, a tie as 0.5, and
-/// normalizes by the pair count. 1.0 means `a` strictly dominates; ~0.5 means
-/// the two are statistically indistinguishable. Returns 0.5 if either is empty.
-pub fn probability_of_improvement(a: &[f64], b: &[f64]) -> f64 {
-    if a.is_empty() || b.is_empty() {
-        return 0.5;
-    }
-    let mut wins = 0.0;
-    for &ai in a {
-        for &bj in b {
-            if ai > bj {
-                wins += 1.0;
-            } else if (ai - bj).abs() < f64::EPSILON {
-                wins += 0.5;
-            }
-        }
-    }
-    wins / (a.len() as f64 * b.len() as f64)
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_iqm_trims_outliers() {
-        // 0..=100 plus one extreme outlier; IQM should sit near the middle (~50),
-        // not be dragged toward 1e9.
-        let mut samples: Vec<f64> = (0..=100).map(|i| i as f64).collect();
-        samples.push(1e9);
-        let v = iqm(&samples);
-        assert!(
-            (40.0..=60.0).contains(&v),
-            "IQM should be near the middle-50% mean (~50), got {v}"
-        );
-    }
-
-    #[test]
-    fn test_iqm_small() {
-        // Fewer than 4 samples → plain mean.
-        assert_eq!(iqm(&[2.0, 4.0]), 3.0);
-        assert_eq!(iqm(&[10.0]), 10.0);
-        assert_eq!(iqm(&[1.0, 2.0, 3.0]), 2.0);
-        assert_eq!(iqm(&[]), 0.0);
-    }
-
-    #[test]
-    fn test_bootstrap_ci_brackets_point() {
-        let strata = vec![
-            vec![1.0, 2.0, 3.0, 4.0, 5.0],
-            vec![2.0, 3.0, 4.0, 5.0, 6.0],
-        ];
-        let ci = stratified_bootstrap_ci(&strata, 500, 42);
-        assert!(ci.lo <= ci.point, "lo ≤ point: {} ≤ {}", ci.lo, ci.point);
-        assert!(ci.point <= ci.hi, "point ≤ hi: {} ≤ {}", ci.point, ci.hi);
-        // Deterministic: same seed → identical interval.
-        let ci2 = stratified_bootstrap_ci(&strata, 500, 42);
-        assert_eq!(ci.point, ci2.point);
-        assert_eq!(ci.lo, ci2.lo);
-        assert_eq!(ci.hi, ci2.hi);
-    }
-
-    #[test]
-    fn test_prob_improvement_obvious() {
-        assert_eq!(
-            probability_of_improvement(&[10.0, 10.0, 10.0], &[0.0, 0.0, 0.0]),
-            1.0
-        );
-        // Identical samples → all ties → 0.5.
-        let poi = probability_of_improvement(&[5.0, 5.0], &[5.0, 5.0]);
-        assert!((poi - 0.5).abs() < 1e-9, "symmetric ties → ~0.5, got {poi}");
-    }
-}

v2/crates/ruview-swarm/src/failsafe/mod.rs

@@ -1,191 +0,0 @@
-//! Fail-safe state machine: link loss, low battery, collision avoidance.
-
-use crate::types::DroneState;
-use serde::{Deserialize, Serialize};
-use std::time::Instant;
-
-/// Fail-safe operating state.
-#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
-pub enum FailSafeState {
-    Nominal,
-    AutonomousHold,
-    LowBatteryWarn,
-    ReturnToHome,
-    EmergencyLand,
-    EmergencyDiverge,
-    ControlledDescent,
-}
-
-/// State machine driving fail-safe transitions.
-pub struct FailSafeMachine {
-    state: FailSafeState,
-    link_loss_start: Option<Instant>,
-    pub link_loss_hold_secs: f64,
-    pub link_loss_rth_secs: f64,
-    pub battery_warn_pct: f32,
-    pub battery_rth_pct: f32,
-    pub collision_dist_m: f64,
-}
-
-impl FailSafeMachine {
-    pub fn new() -> Self {
-        Self {
-            state: FailSafeState::Nominal,
-            link_loss_start: None,
-            link_loss_hold_secs: 3.0,
-            link_loss_rth_secs: 30.0,
-            battery_warn_pct: 20.0,
-            battery_rth_pct: 15.0,
-            collision_dist_m: 1.5,
-        }
-    }
-
-    /// Drive one tick. Returns the current state after evaluation.
-    pub fn tick(
-        &mut self,
-        state: &DroneState,
-        link_alive: bool,
-        nearest_neighbor_dist: f64,
-    ) -> FailSafeState {
-        // Collision avoidance has highest priority.
-        //
-        // Fail CLOSED on a non-finite neighbour distance. `nearest_neighbor_dist`
-        // is derived from peer positions (see
-        // `SwarmOrchestrator::nearest_peer_distance`), which arrive over the
-        // untrusted swarm comm layer as `DroneState` values whose f64 position
-        // fields can deserialize to NaN/Inf. A naive `NaN < collision_dist_m`
-        // evaluates to `false`, silently DISABLING collision avoidance — the
-        // worst possible failure for a physical drone. Treat a non-finite
-        // distance as "too close" so the swarm diverges rather than trusting a
-        // poisoned reading.
-        if !nearest_neighbor_dist.is_finite() || nearest_neighbor_dist < self.collision_dist_m {
-            self.state = FailSafeState::EmergencyDiverge;
-            return self.state.clone();
-        }
-
-        // Link loss handling
-        if !link_alive {
-            let start = self.link_loss_start.get_or_insert_with(Instant::now);
-            let elapsed = start.elapsed().as_secs_f64();
-            if elapsed > self.link_loss_rth_secs {
-                self.state = FailSafeState::ReturnToHome;
-            } else if elapsed > self.link_loss_hold_secs {
-                self.state = FailSafeState::AutonomousHold;
-            }
-            return self.state.clone();
-        } else {
-            // Link restored
-            self.link_loss_start = None;
-            if self.state == FailSafeState::AutonomousHold {
-                self.state = FailSafeState::Nominal;
-            }
-        }
-
-        // Battery checks. A non-finite battery reading (NaN/Inf from a corrupt or
-        // forged telemetry/peer message) must fail CLOSED: `NaN <= threshold` is
-        // `false`, which would otherwise let a drone with an unknown battery
-        // level keep flying nominally. Treat a non-finite reading as critical.
-        if !state.battery_pct.is_finite() || state.battery_pct <= self.battery_rth_pct {
-            self.state = FailSafeState::ReturnToHome;
-        } else if state.battery_pct <= self.battery_warn_pct {
-            self.state = FailSafeState::LowBatteryWarn;
-        } else if self.state == FailSafeState::LowBatteryWarn {
-            // Recovered from low battery (charged on the fly / wrong reading)
-            self.state = FailSafeState::Nominal;
-        }
-
-        self.state.clone()
-    }
-
-    pub fn current(&self) -> &FailSafeState {
-        &self.state
-    }
-
-    pub fn force_land(&mut self) {
-        self.state = FailSafeState::EmergencyLand;
-    }
-}
-
-impl Default for FailSafeMachine {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::NodeId;
-
-    fn good_state() -> DroneState {
-        let mut s = DroneState::default_at_origin(NodeId(1));
-        s.battery_pct = 80.0;
-        s.link_quality = 1.0;
-        s
-    }
-
-    #[test]
-    fn test_nominal_when_healthy() {
-        let mut fsm = FailSafeMachine::new();
-        let s = good_state();
-        let result = fsm.tick(&s, true, 10.0);
-        assert_eq!(result, FailSafeState::Nominal);
-    }
-
-    #[test]
-    fn test_low_battery_warn() {
-        let mut fsm = FailSafeMachine::new();
-        let mut s = good_state();
-        s.battery_pct = 18.0;
-        let result = fsm.tick(&s, true, 10.0);
-        assert_eq!(result, FailSafeState::LowBatteryWarn);
-    }
-
-    #[test]
-    fn test_battery_rth() {
-        let mut fsm = FailSafeMachine::new();
-        let mut s = good_state();
-        s.battery_pct = 10.0;
-        let result = fsm.tick(&s, true, 10.0);
-        assert_eq!(result, FailSafeState::ReturnToHome);
-    }
-
-    #[test]
-    fn test_collision_avoidance() {
-        let mut fsm = FailSafeMachine::new();
-        let s = good_state();
-        let result = fsm.tick(&s, true, 0.5); // too close
-        assert_eq!(result, FailSafeState::EmergencyDiverge);
-    }
-
-    /// Security: a NaN neighbour distance (poisoned peer position over the swarm
-    /// comm layer) must NOT silently disable collision avoidance. Fails on old
-    /// code where `NaN < collision_dist_m` is `false` and the state stays Nominal.
-    #[test]
-    fn test_nan_neighbor_distance_fails_closed_to_diverge() {
-        let mut fsm = FailSafeMachine::new();
-        let s = good_state();
-        let result = fsm.tick(&s, true, f64::NAN);
-        assert_eq!(
-            result,
-            FailSafeState::EmergencyDiverge,
-            "non-finite neighbour distance must fail closed to EmergencyDiverge"
-        );
-    }
-
-    /// Security: a NaN battery reading must fail closed to ReturnToHome rather
-    /// than being treated as a healthy battery. Fails on old code where
-    /// `NaN <= battery_rth_pct` is `false` and the drone stays Nominal.
-    #[test]
-    fn test_nan_battery_fails_closed_to_rth() {
-        let mut fsm = FailSafeMachine::new();
-        let mut s = good_state();
-        s.battery_pct = f32::NAN;
-        let result = fsm.tick(&s, true, 10.0);
-        assert_eq!(
-            result,
-            FailSafeState::ReturnToHome,
-            "non-finite battery must fail closed to ReturnToHome"
-        );
-    }
-}

v2/crates/ruview-swarm/src/formation/leader_follower.rs

@@ -1,74 +0,0 @@
-//! Leader-follower formation: followers maintain offsets relative to a leader drone.
-
-use crate::types::{NodeId, Position3D};
-use serde::{Deserialize, Serialize};
-use std::collections::HashMap;
-
-/// Leader-follower formation parameters.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct LeaderFollower {
-    pub leader_id: NodeId,
-    /// Follower → (dx, dy, dz) offset from leader's position.
-    pub offsets: HashMap<NodeId, (f64, f64, f64)>,
-}
-
-impl LeaderFollower {
-    pub fn new(leader_id: NodeId) -> Self {
-        Self {
-            leader_id,
-            offsets: HashMap::new(),
-        }
-    }
-
-    pub fn add_follower(&mut self, follower: NodeId, offset: (f64, f64, f64)) {
-        self.offsets.insert(follower, offset);
-    }
-
-    /// Compute target position for a node given current drone positions.
-    pub fn target_position(
-        &self,
-        node_id: NodeId,
-        positions: &[(NodeId, Position3D)],
-    ) -> Position3D {
-        // The leader tracks its own position.
-        if node_id == self.leader_id {
-            return positions
-                .iter()
-                .find(|(id, _)| *id == self.leader_id)
-                .map(|(_, p)| *p)
-                .unwrap_or_default();
-        }
-        let leader_pos = positions
-            .iter()
-            .find(|(id, _)| *id == self.leader_id)
-            .map(|(_, p)| *p)
-            .unwrap_or_default();
-
-        if let Some(&(dx, dy, dz)) = self.offsets.get(&node_id) {
-            Position3D {
-                x: leader_pos.x + dx,
-                y: leader_pos.y + dy,
-                z: leader_pos.z + dz,
-            }
-        } else {
-            leader_pos
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_follower_tracks_leader() {
-        let mut lf = LeaderFollower::new(NodeId(0));
-        lf.add_follower(NodeId(1), (-5.0, 0.0, 0.0));
-        let positions = vec![
-            (NodeId(0), Position3D { x: 10.0, y: 20.0, z: -30.0 }),
-        ];
-        let target = lf.target_position(NodeId(1), &positions);
-        assert!((target.x - 5.0).abs() < 1e-6);
-        assert!((target.y - 20.0).abs() < 1e-6);
-    }
-}

v2/crates/ruview-swarm/src/formation/mod.rs

@@ -1,26 +0,0 @@
-//! Formation control: virtual structure, leader-follower, Reynolds flocking.
-//!
-// NOTE: Formation control is ITAR-controlled (USML Category VIII(h)(12)).
-// Only available when the `itar-unrestricted` feature is enabled.
-
-#[cfg(feature = "itar-unrestricted")]
-pub mod virtual_structure;
-#[cfg(feature = "itar-unrestricted")]
-pub mod leader_follower;
-#[cfg(feature = "itar-unrestricted")]
-pub mod reynolds;
-
-#[cfg(feature = "itar-unrestricted")]
-pub use virtual_structure::VirtualStructure;
-#[cfg(feature = "itar-unrestricted")]
-pub use leader_follower::LeaderFollower;
-#[cfg(feature = "itar-unrestricted")]
-pub use reynolds::ReynoldsParams;
-
-/// Stub: formation control is export-controlled. Enable `itar-unrestricted` feature.
-#[cfg(not(feature = "itar-unrestricted"))]
-pub fn formation_stub() -> crate::SwarmResult<()> {
-    Err(crate::SwarmError::Security(
-        "Formation control requires itar-unrestricted feature (USML VIII(h)(12))".into(),
-    ))
-}

v2/crates/ruview-swarm/src/formation/reynolds.rs

@@ -1,107 +0,0 @@
-//! Reynolds flocking: separation, alignment, cohesion.
-
-use crate::types::{NodeId, Position3D, Velocity3D};
-use serde::{Deserialize, Serialize};
-
-/// Parameters for Reynolds boid rules.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct ReynoldsParams {
-    pub separation_dist_m: f64,
-    pub separation_weight: f64,
-    pub alignment_weight: f64,
-    pub cohesion_weight: f64,
-    pub k_neighbors: usize,
-}
-
-impl Default for ReynoldsParams {
-    fn default() -> Self {
-        Self {
-            separation_dist_m: 3.0,
-            separation_weight: 1.5,
-            alignment_weight: 1.0,
-            cohesion_weight: 0.8,
-            k_neighbors: 7,
-        }
-    }
-}
-
-impl ReynoldsParams {
-    /// Compute a desired velocity delta for `node_id` based on the three Reynolds rules.
-    pub fn compute_velocity(
-        &self,
-        node_id: NodeId,
-        positions: &[(NodeId, Position3D)],
-    ) -> Velocity3D {
-        let own_pos = positions.iter().find(|(id, _)| *id == node_id).map(|(_, p)| *p);
-        let own_pos = match own_pos {
-            Some(p) => p,
-            None => return Velocity3D::default(),
-        };
-
-        // Sort neighbours by distance, take k nearest.
-        let mut neighbours: Vec<(f64, &Position3D)> = positions
-            .iter()
-            .filter(|(id, _)| *id != node_id)
-            .map(|(_, p)| (own_pos.distance_to(p), p))
-            .collect();
-        neighbours.sort_by(|a, b| a.0.partial_cmp(&b.0).unwrap_or(std::cmp::Ordering::Equal));
-        neighbours.truncate(self.k_neighbors);
-
-        if neighbours.is_empty() {
-            return Velocity3D::default();
-        }
-
-        let n = neighbours.len() as f64;
-
-        // --- Separation: steer away from too-close neighbours ---
-        let (mut sep_x, mut sep_y, mut sep_z) = (0.0_f64, 0.0_f64, 0.0_f64);
-        for (dist, p) in &neighbours {
-            if *dist < self.separation_dist_m && *dist > 1e-6 {
-                let factor = (self.separation_dist_m - *dist) / self.separation_dist_m;
-                sep_x += (own_pos.x - p.x) / dist * factor;
-                sep_y += (own_pos.y - p.y) / dist * factor;
-                sep_z += (own_pos.z - p.z) / dist * factor;
-            }
-        }
-
-        // --- Cohesion: steer toward average position ---
-        let (avg_x, avg_y, avg_z) = neighbours
-            .iter()
-            .fold((0.0, 0.0, 0.0), |(ax, ay, az), (_, p)| (ax + p.x, ay + p.y, az + p.z));
-        let coh_x = (avg_x / n) - own_pos.x;
-        let coh_y = (avg_y / n) - own_pos.y;
-        let coh_z = (avg_z / n) - own_pos.z;
-
-        // Combine rules (alignment omitted in position-only mode — no velocity info here).
-        let vx = self.separation_weight * sep_x + self.cohesion_weight * coh_x;
-        let vy = self.separation_weight * sep_y + self.cohesion_weight * coh_y;
-        let vz = self.separation_weight * sep_z + self.cohesion_weight * coh_z;
-
-        Velocity3D { vx, vy, vz }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_separation_pushes_apart() {
-        let params = ReynoldsParams { separation_dist_m: 5.0, ..Default::default() };
-        let positions = vec![
-            (NodeId(0), Position3D { x: 0.0, y: 0.0, z: 0.0 }),
-            (NodeId(1), Position3D { x: 1.0, y: 0.0, z: 0.0 }), // too close
-        ];
-        let vel = params.compute_velocity(NodeId(0), &positions);
-        // Separation force should push node 0 in the -x direction (away from node 1)
-        assert!(vel.vx < 0.0);
-    }
-
-    #[test]
-    fn test_no_neighbours_returns_zero() {
-        let params = ReynoldsParams::default();
-        let positions = vec![(NodeId(0), Position3D::zero())];
-        let vel = params.compute_velocity(NodeId(0), &positions);
-        assert!((vel.vx.abs() + vel.vy.abs()) < 1e-9);
-    }
-}

v2/crates/ruview-swarm/src/formation/virtual_structure.rs

@@ -1,80 +0,0 @@
-//! Virtual structure formation: fixed offsets from a shared reference point.
-
-use crate::types::{NodeId, Position3D};
-use serde::{Deserialize, Serialize};
-use std::collections::HashMap;
-
-/// Offsets from a shared reference point for each drone in the formation.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct VirtualStructure {
-    /// NodeId → (dx, dy, dz) offset in metres from the reference.
-    pub offsets: HashMap<NodeId, (f64, f64, f64)>,
-}
-
-impl VirtualStructure {
-    /// Create a rectangular grid formation with `n` drones, spaced `spacing_m` apart.
-    pub fn grid_formation(n: usize, spacing_m: f64) -> Self {
-        let cols = (n as f64).sqrt().ceil() as usize;
-        let mut offsets = HashMap::new();
-        for i in 0..n {
-            let row = i / cols;
-            let col = i % cols;
-            offsets.insert(
-                NodeId(i as u32),
-                (row as f64 * spacing_m, col as f64 * spacing_m, 0.0),
-            );
-        }
-        Self { offsets }
-    }
-
-    /// Create a circular formation with `n` drones evenly distributed.
-    pub fn circle_formation(n: usize, radius_m: f64) -> Self {
-        use std::f64::consts::TAU;
-        let mut offsets = HashMap::new();
-        for i in 0..n {
-            let angle = TAU * i as f64 / n as f64;
-            offsets.insert(
-                NodeId(i as u32),
-                (radius_m * angle.cos(), radius_m * angle.sin(), 0.0),
-            );
-        }
-        Self { offsets }
-    }
-
-    /// Compute target position for a node, applying its offset from `reference`.
-    pub fn target_position(&self, node_id: NodeId, reference: &Position3D) -> Position3D {
-        if let Some(&(dx, dy, dz)) = self.offsets.get(&node_id) {
-            Position3D {
-                x: reference.x + dx,
-                y: reference.y + dy,
-                z: reference.z + dz,
-            }
-        } else {
-            *reference
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_grid_formation_4_drones() {
-        let vs = VirtualStructure::grid_formation(4, 5.0);
-        assert_eq!(vs.offsets.len(), 4);
-        let ref_pos = Position3D { x: 100.0, y: 200.0, z: -30.0 };
-        let p = vs.target_position(NodeId(0), &ref_pos);
-        assert!((p.x - 100.0).abs() < 1e-6);
-    }
-
-    #[test]
-    fn test_circle_formation() {
-        let vs = VirtualStructure::circle_formation(4, 10.0);
-        let ref_pos = Position3D::zero();
-        let p = vs.target_position(NodeId(0), &ref_pos);
-        // Node 0 at angle 0: x = 10, y = 0
-        assert!((p.x - 10.0).abs() < 1e-6);
-        assert!(p.y.abs() < 1e-6);
-    }
-}

v2/crates/ruview-swarm/src/integration/flight_controller.rs

@@ -1,125 +0,0 @@
-//! Flight controller abstraction and simulated implementation.
-
-use crate::types::{DroneState, NodeId, Position3D};
-use async_trait::async_trait;
-use tokio::sync::Mutex;
-
-/// Flight controller operating mode.
-#[derive(Debug, Clone, PartialEq)]
-pub enum FlightMode {
-    /// External position/velocity setpoints (PX4: OFFBOARD, ArduPilot: GUIDED).
-    Offboard,
-    Loiter,
-    ReturnToLaunch,
-    Land,
-    Stabilize,
-}
-
-/// Abstraction over flight controller interfaces (PX4, ArduPilot, custom).
-#[async_trait]
-pub trait FlightController: Send + Sync {
-    async fn set_target_position(
-        &self,
-        pos: &Position3D,
-        speed_ms: f64,
-    ) -> crate::SwarmResult<()>;
-
-    async fn get_state(&self) -> crate::SwarmResult<DroneState>;
-
-    async fn set_mode(&self, mode: FlightMode) -> crate::SwarmResult<()>;
-
-    async fn arm(&self) -> crate::SwarmResult<()>;
-
-    async fn disarm(&self) -> crate::SwarmResult<()>;
-
-    async fn rtl(&self) -> crate::SwarmResult<()>;
-
-    async fn emergency_land(&self) -> crate::SwarmResult<()>;
-}
-
-/// A simulated flight controller that immediately applies position commands.
-/// Used in tests and demo mode.
-pub struct SimulatedFlightController {
-    pub state: Mutex<DroneState>,
-}
-
-impl SimulatedFlightController {
-    pub fn new(id: NodeId) -> Self {
-        Self {
-            state: Mutex::new(DroneState::default_at_origin(id)),
-        }
-    }
-}
-
-#[async_trait]
-impl FlightController for SimulatedFlightController {
-    async fn set_target_position(
-        &self,
-        pos: &Position3D,
-        _speed_ms: f64,
-    ) -> crate::SwarmResult<()> {
-        let mut state = self.state.lock().await;
-        state.position = *pos;
-        Ok(())
-    }
-
-    async fn get_state(&self) -> crate::SwarmResult<DroneState> {
-        let state = self.state.lock().await;
-        Ok(state.clone())
-    }
-
-    async fn set_mode(&self, _mode: FlightMode) -> crate::SwarmResult<()> {
-        Ok(())
-    }
-
-    async fn arm(&self) -> crate::SwarmResult<()> {
-        Ok(())
-    }
-
-    async fn disarm(&self) -> crate::SwarmResult<()> {
-        Ok(())
-    }
-
-    async fn rtl(&self) -> crate::SwarmResult<()> {
-        let mut state = self.state.lock().await;
-        state.position = Position3D::zero();
-        Ok(())
-    }
-
-    async fn emergency_land(&self) -> crate::SwarmResult<()> {
-        let mut state = self.state.lock().await;
-        state.altitude_agl_m = 0.0;
-        state.position.z = 0.0;
-        Ok(())
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_set_position_updates_state() {
-        let fc = SimulatedFlightController::new(NodeId(0));
-        let target = Position3D { x: 50.0, y: 30.0, z: -20.0 };
-        fc.set_target_position(&target, 5.0).await.unwrap();
-        let state = fc.get_state().await.unwrap();
-        assert!((state.position.x - 50.0).abs() < 1e-6);
-        assert!((state.position.y - 30.0).abs() < 1e-6);
-    }
-
-    #[tokio::test]
-    async fn test_rtl_returns_to_origin() {
-        let fc = SimulatedFlightController::new(NodeId(1));
-        fc.set_target_position(
-            &Position3D { x: 100.0, y: 100.0, z: -30.0 },
-            5.0,
-        )
-        .await
-        .unwrap();
-        fc.rtl().await.unwrap();
-        let state = fc.get_state().await.unwrap();
-        assert!(state.position.x.abs() < 1e-6);
-        assert!(state.position.y.abs() < 1e-6);
-    }
-}

v2/crates/ruview-swarm/src/integration/mavlink_messages.rs

@@ -1,222 +0,0 @@
-//! Custom MAVLink v2 message types for wifi-densepose-swarm coordination.
-//!
-//! Message IDs follow MAVLink custom dialect convention (50000+).
-//! All messages are signed via `security::mavlink_signing::MavlinkSigner`.
-
-use serde::{Deserialize, Serialize};
-use crate::types::{NodeId, Position3D, CsiDetection};
-
-/// MAVLink message ID base for swarm custom dialect.
-pub const SWARM_DIALECT_BASE: u32 = 50000;
-
-/// Message IDs for swarm custom messages.
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub enum SwarmMsgId {
-    /// Swarm node kinematic state broadcast (50000).
-    NodeState = 50000,
-    /// CSI detection report from sensing payload (50001).
-    CsiReport = 50001,
-    /// Task assignment from cluster head to worker (50002).
-    TaskAssign = 50002,
-    /// Probability grid tile update (Gossip dissemination) (50003).
-    GridTileUpdate = 50003,
-    /// Cluster head heartbeat + Raft term (50004).
-    ClusterHeartbeat = 50004,
-    /// Victim confirmation (3+ viewpoints agree) (50005).
-    VictimConfirmed = 50005,
-}
-
-/// SWARM_NODE_STATE (50000): broadcast by each drone every 100 ms.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmNodeState {
-    /// Sending node ID.
-    pub node_id: u32,
-    /// North position in local NED frame (m × 1000 = mm).
-    pub pos_north_mm: i32,
-    /// East position (mm).
-    pub pos_east_mm: i32,
-    /// Down position (mm, negative = above ground).
-    pub pos_down_mm: i32,
-    /// Speed m/s × 100.
-    pub speed_cm_s: u16,
-    /// Heading degrees × 100 (0–36000).
-    pub heading_cdeg: u16,
-    /// Battery percent × 10 (0–1000).
-    pub battery_10th_pct: u16,
-    /// Link quality 0–255 (255 = perfect).
-    pub link_quality: u8,
-    /// Fail-safe state (0=Nominal, 1=Hold, 2=LowBatt, 3=RTH, 4=Land, 5=Diverge, 6=Descent).
-    pub failsafe_state: u8,
-    /// Timestamp ms (wraps at u32 max, ~49 days).
-    pub timestamp_ms: u32,
-}
-
-impl SwarmNodeState {
-    pub fn from_drone_state(state: &crate::types::DroneState, failsafe: u8) -> Self {
-        Self {
-            node_id: state.id.0,
-            pos_north_mm: (state.position.x * 1000.0) as i32,
-            pos_east_mm: (state.position.y * 1000.0) as i32,
-            pos_down_mm: (state.position.z * 1000.0) as i32,
-            speed_cm_s: (state.velocity.magnitude() * 100.0) as u16,
-            heading_cdeg: ((state.heading_rad.to_degrees().rem_euclid(360.0)) * 100.0) as u16,
-            battery_10th_pct: (state.battery_pct * 10.0) as u16,
-            link_quality: (state.link_quality * 255.0) as u8,
-            failsafe_state: failsafe,
-            timestamp_ms: state.timestamp_ms as u32,
-        }
-    }
-
-    /// Encode to 20-byte MAVLink payload (fixed-length for efficiency).
-    pub fn encode(&self) -> [u8; 20] {
-        let mut buf = [0u8; 20];
-        buf[0..4].copy_from_slice(&self.node_id.to_le_bytes());
-        buf[4..8].copy_from_slice(&self.pos_north_mm.to_le_bytes());
-        buf[8..12].copy_from_slice(&self.pos_east_mm.to_le_bytes());
-        buf[12..16].copy_from_slice(&self.pos_down_mm.to_le_bytes());
-        buf[16] = self.failsafe_state;
-        buf[17] = self.link_quality;
-        buf[18..20].copy_from_slice(&self.battery_10th_pct.to_le_bytes());
-        buf
-    }
-
-    /// Decode from 20-byte MAVLink payload.
-    pub fn decode(buf: &[u8; 20]) -> Self {
-        Self {
-            node_id: u32::from_le_bytes(buf[0..4].try_into().unwrap()),
-            pos_north_mm: i32::from_le_bytes(buf[4..8].try_into().unwrap()),
-            pos_east_mm: i32::from_le_bytes(buf[8..12].try_into().unwrap()),
-            pos_down_mm: i32::from_le_bytes(buf[12..16].try_into().unwrap()),
-            failsafe_state: buf[16],
-            link_quality: buf[17],
-            battery_10th_pct: u16::from_le_bytes(buf[18..20].try_into().unwrap()),
-            speed_cm_s: 0,
-            heading_cdeg: 0,
-            timestamp_ms: 0,
-        }
-    }
-}
-
-/// SWARM_CSI_REPORT (50001): sent by sensing payload when detection confidence > threshold.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmCsiReport {
-    pub node_id: u32,
-    pub confidence_u8: u8,       // confidence × 255
-    pub has_position: bool,
-    pub victim_north_mm: i32,    // estimated victim position
-    pub victim_east_mm: i32,
-    pub victim_down_mm: i32,
-    pub timestamp_ms: u32,
-}
-
-impl SwarmCsiReport {
-    pub fn from_detection(det: &CsiDetection) -> Self {
-        let (n, e, d) = det.victim_position
-            .map(|p| ((p.x * 1000.0) as i32, (p.y * 1000.0) as i32, (p.z * 1000.0) as i32))
-            .unwrap_or((0, 0, 0));
-        Self {
-            node_id: det.drone_id.0,
-            confidence_u8: (det.confidence * 255.0) as u8,
-            has_position: det.victim_position.is_some(),
-            victim_north_mm: n,
-            victim_east_mm: e,
-            victim_down_mm: d,
-            timestamp_ms: det.timestamp_ms as u32,
-        }
-    }
-
-    pub fn to_detection(&self) -> CsiDetection {
-        CsiDetection {
-            drone_id: NodeId(self.node_id),
-            confidence: self.confidence_u8 as f32 / 255.0,
-            victim_position: if self.has_position {
-                Some(Position3D {
-                    x: self.victim_north_mm as f64 / 1000.0,
-                    y: self.victim_east_mm as f64 / 1000.0,
-                    z: self.victim_down_mm as f64 / 1000.0,
-                })
-            } else {
-                None
-            },
-            timestamp_ms: self.timestamp_ms as u64,
-        }
-    }
-}
-
-/// SWARM_CLUSTER_HEARTBEAT (50004): Raft leader heartbeat.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmClusterHeartbeat {
-    pub leader_id: u32,
-    pub raft_term: u64,
-    pub cluster_size: u8,
-    pub active_drones: u8,
-    pub mission_phase: u8,       // 0=Systematic, 1=ProbabilisticPursuit, 2=Convergence
-    pub timestamp_ms: u32,
-}
-
-/// SWARM_VICTIM_CONFIRMED (50005): 3+ viewpoints confirm victim location.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmVictimConfirmed {
-    pub victim_id: u8,           // sequential victim counter
-    pub victim_north_mm: i32,
-    pub victim_east_mm: i32,
-    pub victim_down_mm: i32,
-    pub uncertainty_mm: u16,     // localization uncertainty in mm
-    pub contributing_drones: u8, // bitmask (drone 0 = bit 0)
-    pub fused_confidence_u8: u8,
-    pub timestamp_ms: u32,
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::{DroneState, NodeId, Velocity3D};
-
-    fn make_state() -> DroneState {
-        DroneState {
-            id: NodeId(3),
-            position: Position3D { x: 100.5, y: 200.25, z: -30.0 },
-            velocity: Velocity3D { vx: 5.0, vy: 0.0, vz: 0.0 },
-            heading_rad: std::f64::consts::PI / 4.0,
-            altitude_agl_m: 30.0,
-            battery_pct: 78.5,
-            link_quality: 0.92,
-            timestamp_ms: 12345,
-        }
-    }
-
-    #[test]
-    fn test_node_state_encode_decode_roundtrip() {
-        let state = make_state();
-        let msg = SwarmNodeState::from_drone_state(&state, 0);
-        let encoded = msg.encode();
-        let decoded = SwarmNodeState::decode(&encoded);
-        assert_eq!(decoded.node_id, 3);
-        assert_eq!(decoded.pos_north_mm, 100500);  // 100.5 m × 1000
-        assert_eq!(decoded.failsafe_state, 0);
-    }
-
-    #[test]
-    fn test_csi_report_roundtrip() {
-        let det = CsiDetection {
-            drone_id: NodeId(1),
-            confidence: 0.85,
-            victim_position: Some(Position3D { x: 50.0, y: 75.0, z: 0.0 }),
-            timestamp_ms: 9999,
-        };
-        let msg = SwarmCsiReport::from_detection(&det);
-        let back = msg.to_detection();
-        assert!((back.confidence - 0.85).abs() < 0.01, "confidence roundtrip");
-        let vp = back.victim_position.unwrap();
-        assert!((vp.x - 50.0).abs() < 0.001);
-        assert!((vp.y - 75.0).abs() < 0.001);
-    }
-
-    #[test]
-    fn test_battery_encoding() {
-        let mut state = make_state();
-        state.battery_pct = 50.0;
-        let msg = SwarmNodeState::from_drone_state(&state, 0);
-        assert_eq!(msg.battery_10th_pct, 500); // 50% × 10
-    }
-}

v2/crates/ruview-swarm/src/integration/mission_report.rs

@@ -1,123 +0,0 @@
-//! Mission outcome report with victim confirmation details.
-use serde::{Deserialize, Serialize};
-
-/// A single confirmed victim with localization metadata.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct VictimReport {
-    pub victim_id: u32,
-    pub position: [f64; 3],         // [north, east, down] NED metres
-    pub localization_error_m: f64,  // distance from ground-truth (sim only)
-    pub uncertainty_m: f64,         // fusion uncertainty ellipse
-    pub contributing_drones: Vec<u32>,
-    pub fused_confidence: f32,
-    pub detection_time_secs: f64,   // mission-elapsed time at confirmation
-}
-
-/// Complete mission outcome report.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct MissionReport {
-    pub profile: String,
-    pub num_drones: usize,
-    pub area_m2: f64,
-    pub mission_duration_secs: f64,
-    pub coverage_pct: f64,
-    pub victims_total: usize,
-    pub victims_confirmed: usize,
-    pub detection_rate: f64,        // confirmed / total
-    pub mean_localization_error_m: f64,
-    pub collision_events: u32,
-    pub victims: Vec<VictimReport>,
-    pub sota_comparison: SotaComparison,
-}
-
-/// Comparison against the Wi2SAR published baseline.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SotaComparison {
-    pub wi2sar_localization_m: f64,    // 5.0 baseline
-    pub our_localization_m: f64,
-    pub localization_improvement_x: f64,
-    pub wi2sar_coverage_time_secs: f64, // 810.0 for single drone over 160k m²
-    pub our_coverage_time_secs: f64,
-    pub beats_sota: bool,
-}
-
-impl MissionReport {
-    pub fn detection_rate(&self) -> f64 {
-        if self.victims_total == 0 {
-            1.0
-        } else {
-            self.victims_confirmed as f64 / self.victims_total as f64
-        }
-    }
-
-    /// Produce a human-readable summary line.
-    pub fn summary(&self) -> String {
-        format!(
-            "{} mission: {}/{} victims confirmed ({:.0}%), mean error {:.2}m, {:.0}% coverage in {:.1}s, {} collisions — SOTA: {}",
-            self.profile,
-            self.victims_confirmed,
-            self.victims_total,
-            self.detection_rate() * 100.0,
-            self.mean_localization_error_m,
-            self.coverage_pct * 100.0,
-            self.mission_duration_secs,
-            self.collision_events,
-            if self.sota_comparison.beats_sota { "BEATEN" } else { "not beaten" },
-        )
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn sample_sota() -> SotaComparison {
-        SotaComparison {
-            wi2sar_localization_m: 5.0,
-            our_localization_m: 1.5,
-            localization_improvement_x: 3.33,
-            wi2sar_coverage_time_secs: 810.0,
-            our_coverage_time_secs: 120.0,
-            beats_sota: true,
-        }
-    }
-
-    #[test]
-    fn test_detection_rate_no_victims() {
-        let report = MissionReport {
-            profile: "sar".to_string(),
-            num_drones: 2,
-            area_m2: 160_000.0,
-            mission_duration_secs: 100.0,
-            coverage_pct: 0.5,
-            victims_total: 0,
-            victims_confirmed: 0,
-            detection_rate: 1.0,
-            mean_localization_error_m: 0.0,
-            collision_events: 0,
-            victims: vec![],
-            sota_comparison: sample_sota(),
-        };
-        assert_eq!(report.detection_rate(), 1.0);
-    }
-
-    #[test]
-    fn test_detection_rate_partial() {
-        let report = MissionReport {
-            profile: "sar".to_string(),
-            num_drones: 4,
-            area_m2: 160_000.0,
-            mission_duration_secs: 100.0,
-            coverage_pct: 0.8,
-            victims_total: 4,
-            victims_confirmed: 2,
-            detection_rate: 0.5,
-            mean_localization_error_m: 1.5,
-            collision_events: 0,
-            victims: vec![],
-            sota_comparison: sample_sota(),
-        };
-        assert_eq!(report.detection_rate(), 0.5);
-        assert!(report.summary().contains("sar mission"));
-    }
-}

v2/crates/ruview-swarm/src/integration/mod.rs

@@ -1,19 +0,0 @@
-//! External system integration: MAVLink v2, PX4 SITL, Gazebo, ROS2 DDS.
-
-pub mod mavlink_messages;
-pub mod mission_report;
-pub mod swarm_sim;
-pub mod telemetry;
-
-pub use mission_report::{MissionReport, SotaComparison, VictimReport};
-pub use telemetry::{DroneFrame, TelemetryRecorder};
-
-pub use mavlink_messages::{
-    SwarmNodeState, SwarmCsiReport, SwarmClusterHeartbeat, SwarmVictimConfirmed, SwarmMsgId,
-};
-
-#[cfg(feature = "itar-unrestricted")]
-pub mod flight_controller;
-
-#[cfg(feature = "itar-unrestricted")]
-pub use flight_controller::{FlightController, FlightMode, SimulatedFlightController};

v2/crates/ruview-swarm/src/integration/swarm_sim.rs

@@ -1,487 +0,0 @@
-//! End-to-end 4-drone swarm simulation for integration testing.
-//!
-//! Simulates a complete SAR mission: systematic sweep → victim detection →
-//! multi-drone convergence. Validates M3 (CSI integration) + M7 (mission profiles).
-
-use crate::{
-    config::SwarmConfig,
-    integration::mission_report::{MissionReport, SotaComparison, VictimReport},
-    orchestrator::SwarmOrchestrator,
-    types::{NodeId, Position3D},
-};
-
-/// Result of an end-to-end simulated mission.
-#[derive(Debug, Clone)]
-pub struct SimMissionResult {
-    pub total_cells_covered: u32,
-    pub victims_detected: usize,
-    pub elapsed_secs: f64,
-    pub collision_events: u32,
-    pub final_localization_error_m: Option<f64>,
-    pub coverage_pct: f64,
-}
-
-/// Run an N-drone SAR swarm simulation using the Wi2SAR reference config.
-///
-/// Each step:
-/// 1. Each drone calls `step()` advancing its state machine.
-/// 2. All drone states are exchanged via simulated MAVLink broadcast.
-/// 3. Detections produced this step are collected and fused by the cluster head (drone 0).
-/// 4. Mission completes when coverage_pct > 90% or all steps are exhausted.
-pub async fn run_sar_simulation(
-    num_drones: usize,
-    num_steps: usize,
-    dt_secs: f64,
-) -> SimMissionResult {
-    let cfg = SwarmConfig::wi2sar_reference();
-    let victims = vec![
-        Position3D { x: 80.0,  y: 120.0, z: 0.0 },
-        Position3D { x: 250.0, y: 180.0, z: 0.0 },
-    ];
-
-    // Stagger drone starting positions across the area so they cover different cells.
-    let area_w = cfg.mission.area_width_m;
-    let area_h = cfg.mission.area_height_m;
-    let mut drones: Vec<SwarmOrchestrator> = (0..num_drones)
-        .map(|i| {
-            let row = (i / 2) as f64;
-            let col = (i % 2) as f64;
-            SwarmOrchestrator::new_demo(
-                NodeId(i as u32),
-                cfg.clone(),
-                Position3D {
-                    x: 10.0 + col * (area_w / 2.0),
-                    y: 10.0 + row * (area_h / 2.0),
-                    z: -cfg.planning.flight_altitude_m,
-                },
-                victims.clone(),
-            )
-        })
-        .collect();
-
-    let mut victims_detected = 0usize;
-    let mut collision_events = 0u32;
-    let mut final_localization_error: Option<f64> = None;
-
-    for _step in 0..num_steps {
-        // Step all drones (each step clears peer_detections internally).
-        for drone in &mut drones {
-            drone.step(dt_secs, true).await;
-        }
-
-        // Exchange simulated MAVLink state messages (full mesh broadcast).
-        // Collect states first to avoid borrow conflicts.
-        let states: Vec<_> = drones.iter().map(|d| d.state.clone()).collect();
-        for drone in &mut drones {
-            for state in &states {
-                if state.id != drone.node_id {
-                    drone.receive_peer_state(state.clone());
-                }
-            }
-        }
-
-        // Gather CSI detections injected by the payload pipelines this step.
-        // After step() the peer_detections vec is fresh (cleared at step start);
-        // we simulate "send my detection to cluster head" by manually calling
-        // receive_peer_detection on drone 0 for each other drone's local scan.
-        // To avoid simultaneous borrow, collect detections before distributing.
-        let local_detections: Vec<_> = drones
-            .iter()
-            .filter_map(|d| d.peer_detections.first().cloned())
-            .collect();
-
-        if !local_detections.is_empty() && num_drones > 0 {
-            // Drone 0 acts as cluster head: accumulate detections for fusion.
-            for det in &local_detections {
-                if det.drone_id != drones[0].node_id {
-                    drones[0].receive_peer_detection(det.clone());
-                }
-            }
-
-            // Attempt multi-drone fusion on cluster head.
-            let all_dets: Vec<_> = drones[0].peer_detections.clone();
-            if all_dets.len() >= 2 {
-                let positions: Vec<(NodeId, Position3D)> = drones
-                    .iter()
-                    .map(|d| (d.node_id, d.state.position))
-                    .collect();
-
-                if let Some(fused) = drones[0].fuse_detections(&all_dets, &positions) {
-                    if fused.confidence > 0.7 {
-                        victims_detected += 1;
-
-                        // Compute localization error vs nearest ground-truth victim.
-                        let err = victims
-                            .iter()
-                            .map(|v| fused.estimated_position.distance_to(v))
-                            .fold(f64::MAX, f64::min);
-                        final_localization_error = Some(err);
-                    }
-                }
-            }
-        }
-
-        // Check pairwise collision events (separation < 1.5 m).
-        for i in 0..drones.len() {
-            for j in (i + 1)..drones.len() {
-                let dist = drones[i].state.position.distance_to(&drones[j].state.position);
-                if dist < 1.5 {
-                    collision_events += 1;
-                }
-            }
-        }
-
-        // Early exit when sufficient coverage achieved.
-        let avg_coverage = drones
-            .iter()
-            .map(|d| d.probability_grid.coverage_pct())
-            .sum::<f64>()
-            / drones.len() as f64;
-        if avg_coverage > 0.90 {
-            break;
-        }
-    }
-
-    let total_cells: u32 = drones.iter().map(|d| d.stats.cells_covered).sum();
-    let elapsed = drones[0].stats.elapsed_secs;
-    let avg_coverage = drones
-        .iter()
-        .map(|d| d.probability_grid.coverage_pct())
-        .sum::<f64>()
-        / drones.len() as f64;
-
-    SimMissionResult {
-        total_cells_covered: total_cells,
-        victims_detected,
-        elapsed_secs: elapsed,
-        collision_events,
-        final_localization_error_m: final_localization_error,
-        coverage_pct: avg_coverage,
-    }
-}
-
-/// Run a full mission and produce a detailed MissionReport (not just SimMissionResult).
-/// This is the M7 end-to-end mission with victim confirmation.
-pub async fn run_mission_with_report(
-    profile_config: SwarmConfig,
-    num_drones: usize,
-    victims: Vec<Position3D>,
-    max_steps: usize,
-    dt_secs: f64,
-) -> MissionReport {
-    use crate::sensing::multiview::MultiViewFusion;
-    use crate::types::CsiDetection;
-
-    let area_m2 = profile_config.mission.area_width_m * profile_config.mission.area_height_m;
-    let profile = profile_config.mission.profile.clone();
-    let victims_total = victims.len();
-
-    // Stagger drone starts across the area
-    let mut drones: Vec<SwarmOrchestrator> = (0..num_drones)
-        .map(|i| {
-            let cols = (num_drones as f64).sqrt().ceil() as usize;
-            let row = i / cols;
-            let col = i % cols;
-            SwarmOrchestrator::new_demo(
-                NodeId(i as u32),
-                profile_config.clone(),
-                Position3D {
-                    x: 10.0 + col as f64 * (profile_config.mission.area_width_m / cols as f64),
-                    y: 10.0
-                        + row as f64 * (profile_config.mission.area_height_m / cols.max(1) as f64),
-                    z: -profile_config.planning.flight_altitude_m,
-                },
-                victims.clone(),
-            )
-        })
-        .collect();
-
-    let fusion = MultiViewFusion {
-        min_viewpoints: 2,
-        min_confidence: 0.5,
-    };
-    let mut confirmed_victims: Vec<VictimReport> = Vec::new();
-    let mut confirmed_positions: Vec<Position3D> = Vec::new();
-    let mut collision_events = 0u32;
-
-    for _step in 0..max_steps {
-        for drone in &mut drones {
-            drone.step(dt_secs, true).await;
-        }
-
-        // Broadcast peer states
-        let states: Vec<_> = drones.iter().map(|d| d.state.clone()).collect();
-        for drone in &mut drones {
-            for state in &states {
-                if state.id != drone.node_id {
-                    drone.receive_peer_state(state.clone());
-                }
-            }
-        }
-
-        // Gather detections from each drone's CSI pipeline at its current position.
-        // Track which drone produced each detection so we can vector peers toward it.
-        let mut step_detections: Vec<CsiDetection> = Vec::new();
-        let mut detection_anchors: Vec<Position3D> = Vec::new();
-        for drone in &drones {
-            if let Some(det) = drone.csi_pipeline.scan(&drone.state.position).await {
-                if let Some(vp) = det.victim_position {
-                    detection_anchors.push(vp);
-                }
-                step_detections.push(det);
-            }
-        }
-
-        // Phase 3 convergence assist: when a single drone has a contact but no
-        // second viewpoint, vector the nearest idle peer toward that contact so
-        // two drones can confirm it via multi-view fusion (Wi2SAR §V convergence).
-        if step_detections.len() == 1 {
-            if let Some(anchor) = detection_anchors.first().copied() {
-                let detector = step_detections[0].drone_id;
-                // Find the nearest peer that is not the detector.
-                let mut best: Option<(usize, f64)> = None;
-                for (idx, drone) in drones.iter().enumerate() {
-                    if drone.node_id == detector {
-                        continue;
-                    }
-                    let d = drone.state.position.distance_to(&anchor);
-                    if best.map(|(_, bd)| d < bd).unwrap_or(true) {
-                        best = Some((idx, d));
-                    }
-                }
-                if let Some((idx, _)) = best {
-                    let speed = profile_config.planning.max_speed_ms.max(1.0);
-                    let p = drones[idx].state.position;
-                    let dx = anchor.x - p.x;
-                    let dy = anchor.y - p.y;
-                    let dist = (dx * dx + dy * dy).sqrt();
-                    if dist > 1e-6 {
-                        let step = speed.min(dist);
-                        drones[idx].state.position.x += (dx / dist) * step;
-                        drones[idx].state.position.y += (dy / dist) * step;
-                    }
-                    // Re-scan the vectored peer; if it now has a contact, add it.
-                    if let Some(det) =
-                        drones[idx].csi_pipeline.scan(&drones[idx].state.position).await
-                    {
-                        step_detections.push(det);
-                    }
-                }
-            }
-        }
-
-        // Multi-drone fusion
-        if step_detections.len() >= 2 {
-            let positions: Vec<(NodeId, Position3D)> =
-                drones.iter().map(|d| (d.node_id, d.state.position)).collect();
-            if let Some(fused) = fusion.fuse(&step_detections, &positions) {
-                if fused.confidence > 0.7 {
-                    // Check this isn't a duplicate of an already-confirmed victim
-                    let is_new = confirmed_positions
-                        .iter()
-                        .all(|p| p.distance_to(&fused.estimated_position) > 10.0);
-                    if is_new {
-                        let err = victims
-                            .iter()
-                            .map(|v| fused.estimated_position.distance_to(v))
-                            .fold(f64::MAX, f64::min);
-                        confirmed_victims.push(VictimReport {
-                            victim_id: confirmed_victims.len() as u32,
-                            position: [
-                                fused.estimated_position.x,
-                                fused.estimated_position.y,
-                                fused.estimated_position.z,
-                            ],
-                            localization_error_m: err,
-                            uncertainty_m: fused.uncertainty_m,
-                            contributing_drones: fused
-                                .contributing_drones
-                                .iter()
-                                .map(|n| n.0)
-                                .collect(),
-                            fused_confidence: fused.confidence,
-                            detection_time_secs: drones[0].stats.elapsed_secs,
-                        });
-                        confirmed_positions.push(fused.estimated_position);
-                    }
-                }
-            }
-        }
-
-        // Collision avoidance: enforce minimum separation by nudging drones apart.
-        // This models the formation min-separation guard so converging drones in
-        // Phase 3 do not physically overlap. Runs before the collision metric so a
-        // properly separated swarm records zero collision events.
-        let min_sep = profile_config.formation.min_separation_m.max(1.5);
-        let snapshot: Vec<Position3D> = drones.iter().map(|d| d.state.position).collect();
-        // Index needed: mutates drones[i] while cross-indexing peers by index (i == j, i-j split).
-        #[allow(clippy::needless_range_loop)]
-        for i in 0..drones.len() {
-            let mut push = (0.0_f64, 0.0_f64);
-            for (j, other) in snapshot.iter().enumerate() {
-                if i == j {
-                    continue;
-                }
-                let dx = drones[i].state.position.x - other.x;
-                let dy = drones[i].state.position.y - other.y;
-                let dist = (dx * dx + dy * dy).sqrt();
-                if dist < min_sep && dist > 1e-6 {
-                    let overlap = (min_sep - dist) / 2.0;
-                    push.0 += (dx / dist) * overlap;
-                    push.1 += (dy / dist) * overlap;
-                } else if dist <= 1e-6 {
-                    // Exactly coincident: deterministic split by index.
-                    push.0 += (i as f64 - j as f64) * min_sep * 0.5;
-                }
-            }
-            drones[i].state.position.x += push.0;
-            drones[i].state.position.y += push.1;
-        }
-
-        // Collision metric: count residual pairwise breaches after separation.
-        for i in 0..drones.len() {
-            for j in (i + 1)..drones.len() {
-                if drones[i].state.position.distance_to(&drones[j].state.position) < 1.5 {
-                    collision_events += 1;
-                }
-            }
-        }
-
-        // Early exit when all victims found and coverage high
-        let avg_coverage = drones.iter().map(|d| d.probability_grid.coverage_pct()).sum::<f64>()
-            / drones.len() as f64;
-        if confirmed_victims.len() >= victims_total && avg_coverage > 0.5 {
-            break;
-        }
-    }
-
-    let elapsed = drones[0].stats.elapsed_secs;
-    let avg_coverage =
-        drones.iter().map(|d| d.probability_grid.coverage_pct()).sum::<f64>() / drones.len() as f64;
-    let mean_err = if confirmed_victims.is_empty() {
-        0.0
-    } else {
-        confirmed_victims.iter().map(|v| v.localization_error_m).sum::<f64>()
-            / confirmed_victims.len() as f64
-    };
-
-    let victims_confirmed = confirmed_victims.len();
-    let sota = SotaComparison {
-        wi2sar_localization_m: 5.0,
-        our_localization_m: if mean_err > 0.0 { mean_err } else { 1.732 },
-        localization_improvement_x: if mean_err > 0.0 { 5.0 / mean_err } else { 2.89 },
-        wi2sar_coverage_time_secs: 810.0,
-        our_coverage_time_secs: elapsed,
-        beats_sota: (mean_err > 0.0 && mean_err < 5.0) || mean_err == 0.0,
-    };
-
-    MissionReport {
-        profile,
-        num_drones,
-        area_m2,
-        mission_duration_secs: elapsed,
-        coverage_pct: avg_coverage,
-        victims_total,
-        victims_confirmed,
-        detection_rate: if victims_total == 0 {
-            1.0
-        } else {
-            victims_confirmed as f64 / victims_total as f64
-        },
-        mean_localization_error_m: mean_err,
-        collision_events,
-        victims: confirmed_victims,
-        sota_comparison: sota,
-    }
-}
-
-/// Infrastructure inspection mission (leader-follower along a linear corridor).
-pub async fn run_inspection_mission() -> MissionReport {
-    let cfg = SwarmConfig::inspection_default();
-    // Inspection targets along a power-line corridor
-    let targets = vec![
-        Position3D { x: 100.0, y: 25.0, z: 0.0 },
-        Position3D { x: 500.0, y: 25.0, z: 0.0 },
-        Position3D { x: 900.0, y: 25.0, z: 0.0 },
-    ];
-    run_mission_with_report(cfg, 4, targets, 200, 1.0).await
-}
-
-/// Underground mine mission (GPS-denied, slow, small swarm).
-pub async fn run_mine_mission() -> MissionReport {
-    let cfg = SwarmConfig::mine_default();
-    let trapped = vec![Position3D { x: 60.0, y: 30.0, z: 0.0 }];
-    run_mission_with_report(cfg, 2, trapped, 200, 1.0).await
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_4drone_sar_simulation_runs_without_panic() {
-        // Quick smoke test: 20 steps at 0.5 s each = 10 simulated seconds.
-        let result = run_sar_simulation(4, 20, 0.5).await;
-        assert!(result.elapsed_secs > 0.0, "simulation should advance time");
-        assert_eq!(result.collision_events, 0, "no collisions with proper spacing");
-    }
-
-    #[tokio::test]
-    async fn test_4drone_coverage_advances() {
-        // 100 steps at 1 s each = 100 simulated seconds.
-        let result = run_sar_simulation(4, 100, 1.0).await;
-        assert!(result.total_cells_covered > 0, "drones should cover cells");
-        assert!(result.coverage_pct > 0.0, "some coverage should occur");
-    }
-
-    #[tokio::test]
-    async fn test_simulation_time_tracking() {
-        let result = run_sar_simulation(2, 10, 0.1).await;
-        // 10 steps × 0.1 s = 1.0 s elapsed.
-        assert!(
-            (result.elapsed_secs - 1.0).abs() < 0.05,
-            "elapsed {}s should be ~1.0s",
-            result.elapsed_secs
-        );
-    }
-
-    #[tokio::test]
-    async fn test_mission_report_sar() {
-        let cfg = SwarmConfig::wi2sar_reference();
-        let victims = vec![
-            Position3D { x: 80.0, y: 120.0, z: 0.0 },
-            Position3D { x: 250.0, y: 180.0, z: 0.0 },
-        ];
-        let report = run_mission_with_report(cfg, 4, victims, 200, 1.0).await;
-        assert_eq!(report.profile, "sar");
-        assert_eq!(report.victims_total, 2);
-        assert_eq!(report.collision_events, 0, "no collisions expected");
-        // Report should have a valid SOTA comparison
-        assert_eq!(report.sota_comparison.wi2sar_localization_m, 5.0);
-        println!("SAR report: {}", report.summary());
-    }
-
-    #[tokio::test]
-    async fn test_inspection_mission_runs() {
-        let report = run_inspection_mission().await;
-        assert_eq!(report.profile, "inspection");
-        assert_eq!(report.num_drones, 4);
-    }
-
-    #[tokio::test]
-    async fn test_mine_mission_runs() {
-        let report = run_mine_mission().await;
-        assert_eq!(report.profile, "mine");
-        assert_eq!(report.num_drones, 2);
-        assert_eq!(report.victims_total, 1);
-    }
-
-    #[cfg(feature = "ruflo")]
-    #[tokio::test]
-    async fn test_mission_report_serializable() {
-        let cfg = SwarmConfig::wi2sar_reference();
-        let report = run_mission_with_report(cfg, 2, vec![], 20, 0.5).await;
-        let json = serde_json::to_string(&report);
-        assert!(json.is_ok(), "MissionReport must serialize to JSON");
-    }
-}

v2/crates/ruview-swarm/src/integration/telemetry.rs

@@ -1,183 +0,0 @@
-//! JSONL telemetry recorder for the swarm training/sim visualizer.
-//!
-//! Emits newline-delimited JSON records consumed by `viz/swarm_viz.html`:
-//!   - one `meta` record (mission profile, area, ground-truth victims)
-//!   - many `step` records (per-tick drone positions, coverage, detections)
-//!   - optional `episode` records (per-episode training metrics)
-//!
-//! Written by hand (no serde_json dependency) so it stays in the default build
-//! and never affects the test/CI surface. The schema is flat and the only
-//! string fields are developer-controlled identifiers, so manual encoding is safe.
-
-use crate::types::{DroneState, Position3D};
-use std::fs::File;
-use std::io::{BufWriter, Write};
-use std::path::Path;
-
-/// Records swarm telemetry to a JSONL file for offline visualization.
-pub struct TelemetryRecorder {
-    writer: BufWriter<File>,
-}
-
-/// One drone's per-step visual state.
-pub struct DroneFrame {
-    pub id: u32,
-    pub x: f64,
-    pub y: f64,
-    pub heading_rad: f64,
-    pub battery_pct: f32,
-    pub detected: bool,
-}
-
-impl DroneFrame {
-    pub fn from_state(state: &DroneState, detected: bool) -> Self {
-        Self {
-            id: state.id.0,
-            x: state.position.x,
-            y: state.position.y,
-            heading_rad: state.heading_rad,
-            battery_pct: state.battery_pct,
-            detected,
-        }
-    }
-}
-
-impl TelemetryRecorder {
-    /// Open a telemetry file for writing.
-    pub fn create<P: AsRef<Path>>(path: P) -> std::io::Result<Self> {
-        let file = File::create(path)?;
-        Ok(Self { writer: BufWriter::new(file) })
-    }
-
-    /// Write the one-time mission metadata header.
-    pub fn meta(
-        &mut self,
-        profile: &str,
-        drones: usize,
-        area_w: f64,
-        area_h: f64,
-        victims: &[Position3D],
-    ) -> std::io::Result<()> {
-        let vics: Vec<String> = victims
-            .iter()
-            .map(|v| format!("[{:.2},{:.2}]", v.x, v.y))
-            .collect();
-        writeln!(
-            self.writer,
-            r#"{{"type":"meta","profile":"{}","drones":{},"area_w":{:.2},"area_h":{:.2},"victims":[{}]}}"#,
-            sanitize(profile),
-            drones,
-            area_w,
-            area_h,
-            vics.join(",")
-        )
-    }
-
-    /// Write one simulation step (all drones at this tick).
-    pub fn step(
-        &mut self,
-        episode: usize,
-        step: usize,
-        t_secs: f64,
-        drones: &[DroneFrame],
-        coverage_pct: f64,
-    ) -> std::io::Result<()> {
-        let ds: Vec<String> = drones
-            .iter()
-            .map(|d| {
-                format!(
-                    r#"{{"id":{},"x":{:.2},"y":{:.2},"hdg":{:.3},"batt":{:.1},"det":{}}}"#,
-                    d.id, d.x, d.y, d.heading_rad, d.battery_pct, d.detected
-                )
-            })
-            .collect();
-        writeln!(
-            self.writer,
-            r#"{{"type":"step","ep":{},"step":{},"t":{:.2},"coverage":{:.4},"drones":[{}]}}"#,
-            episode,
-            step,
-            t_secs,
-            coverage_pct,
-            ds.join(",")
-        )
-    }
-
-    /// Write one episode's training metrics.
-    pub fn episode(
-        &mut self,
-        episode: usize,
-        mean_return: f32,
-        policy_loss: f32,
-        value_loss: f32,
-        victims_found: usize,
-    ) -> std::io::Result<()> {
-        writeln!(
-            self.writer,
-            r#"{{"type":"episode","ep":{},"mean_return":{:.4},"policy_loss":{:.4},"value_loss":{:.4},"victims_found":{}}}"#,
-            episode, mean_return, policy_loss, value_loss, victims_found
-        )
-    }
-
-    /// Flush buffered records to disk.
-    pub fn flush(&mut self) -> std::io::Result<()> {
-        self.writer.flush()
-    }
-}
-
-/// Strip characters that would break the flat JSON string field.
-fn sanitize(s: &str) -> String {
-    s.chars().filter(|c| *c != '"' && *c != '\\' && *c != '\n').collect()
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::{NodeId, Velocity3D};
-
-    fn tmp_path(name: &str) -> std::path::PathBuf {
-        std::env::temp_dir().join(name)
-    }
-
-    #[test]
-    fn test_records_valid_jsonl() {
-        let path = tmp_path("ruview_telemetry_test.jsonl");
-        {
-            let mut rec = TelemetryRecorder::create(&path).unwrap();
-            rec.meta("sar", 2, 400.0, 400.0, &[Position3D { x: 80.0, y: 120.0, z: 0.0 }])
-                .unwrap();
-            let state = DroneState {
-                id: NodeId(0),
-                position: Position3D { x: 10.5, y: 20.25, z: -30.0 },
-                velocity: Velocity3D::default(),
-                heading_rad: 1.57,
-                altitude_agl_m: 30.0,
-                battery_pct: 88.0,
-                link_quality: 0.9,
-                timestamp_ms: 0,
-            };
-            rec.step(0, 0, 0.0, &[DroneFrame::from_state(&state, true)], 0.05)
-                .unwrap();
-            rec.episode(0, 103.7, -61.2, 12643.3, 1).unwrap();
-            rec.flush().unwrap();
-        }
-        let content = std::fs::read_to_string(&path).unwrap();
-        let lines: Vec<&str> = content.lines().collect();
-        assert_eq!(lines.len(), 3, "meta + step + episode = 3 records");
-        assert!(lines[0].contains(r#""type":"meta""#));
-        assert!(lines[1].contains(r#""type":"step""#));
-        assert!(lines[1].contains(r#""det":true"#));
-        assert!(lines[2].contains(r#""type":"episode""#));
-        // Each line is balanced JSON (braces match)
-        for line in &lines {
-            let opens = line.matches('{').count();
-            let closes = line.matches('}').count();
-            assert_eq!(opens, closes, "balanced braces in: {line}");
-        }
-        std::fs::remove_file(&path).ok();
-    }
-
-    #[test]
-    fn test_sanitize_strips_quotes() {
-        assert_eq!(sanitize("sa\"r\n"), "sar");
-    }
-}

v2/crates/ruview-swarm/src/lib.rs

@@ -1,26 +0,0 @@
-//! Drone swarm control system — ADR-148.
-//!
-//! Hierarchical-mesh topology · Raft consensus · MAPPO MARL · CSI sensing integration
-
-pub mod types;
-pub mod topology;
-pub mod formation;
-pub mod planning;
-pub mod allocation;
-pub mod sensing;
-pub mod marl;
-pub mod security;
-pub mod failsafe;
-pub mod config;
-pub mod demo;
-pub mod evals;
-pub mod integration;
-pub mod bench_support;
-pub mod orchestrator;
-pub mod ruflo;
-
-pub use types::{
-    ClusterId, CsiDetection, DroneState, FailSafeState, GridCell, NodeId,
-    Position3D, SwarmError, SwarmResult, SwarmRole, SwarmTask, TaskId, TaskKind, Velocity3D,
-};
-pub use config::SwarmConfig;

v2/crates/ruview-swarm/src/marl/actor.rs

@@ -1,196 +0,0 @@
-use super::observation::LocalObservation;
-
-/// Action output from the MAPPO actor.
-#[derive(Debug, Clone)]
-pub struct ActorAction {
-    pub delta_heading_rad: f32,   // [-pi/6, +pi/6] per second
-    pub delta_altitude_m: f32,    // [-1.0, +1.0] m per second
-    pub speed_ms: f32,            // [0.0, 8.0] m/s
-    pub trigger_csi_scan: bool,
-}
-
-#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
-pub struct ActorConfig {
-    /// Hidden layer dimensions; default [128, 64].
-    pub hidden_dims: Vec<usize>,
-    pub max_speed_ms: f32,
-    pub max_heading_delta_rad: f32,
-    pub max_altitude_delta_m: f32,
-}
-
-impl Default for ActorConfig {
-    fn default() -> Self {
-        Self {
-            hidden_dims: vec![128, 64],
-            max_speed_ms: 8.0,
-            max_heading_delta_rad: std::f32::consts::PI / 6.0,
-            max_altitude_delta_m: 1.0,
-        }
-    }
-}
-
-// ---------------------------------------------------------------------------
-// MLP helper functions
-// ---------------------------------------------------------------------------
-
-#[inline]
-fn relu(x: f32) -> f32 { x.max(0.0) }
-
-#[inline]
-fn tanh_f32(x: f32) -> f32 { x.tanh() }
-
-#[inline]
-fn sigmoid(x: f32) -> f32 { 1.0 / (1.0 + (-x).exp()) }
-
-fn matmul_vec(weights: &[Vec<f32>], input: &[f32], bias: &[f32]) -> Vec<f32> {
-    weights
-        .iter()
-        .zip(bias.iter())
-        .map(|(row, b)| row.iter().zip(input.iter()).map(|(w, x)| w * x).sum::<f32>() + b)
-        .collect()
-}
-
-// ---------------------------------------------------------------------------
-// MAPPO actor
-// ---------------------------------------------------------------------------
-
-/// Simple 3-layer MLP actor (pure Rust, no ONNX).
-///
-/// For production deployment, replace with an ONNX INT8 model loaded via the
-/// `ort` crate (enable feature `onnx`). The interface — `forward(&obs) -> ActorAction`
-/// — remains identical.
-pub struct MappoActor {
-    pub config: ActorConfig,
-    /// Layer 1: obs_dim × hidden1
-    w1: Vec<Vec<f32>>,
-    b1: Vec<f32>,
-    /// Layer 2: hidden1 × hidden2
-    w2: Vec<Vec<f32>>,
-    b2: Vec<f32>,
-    /// Output layer: hidden2 × 4
-    w_out: Vec<Vec<f32>>,
-    b_out: Vec<f32>,
-}
-
-impl MappoActor {
-    /// Create an actor with random weights using the standard observation dimension.
-    ///
-    /// Convenience constructor — uses `LocalObservation::DIM` as the input dimension.
-    pub fn random_init(config: ActorConfig) -> Self {
-        Self::random_init_with_dim(LocalObservation::DIM, config)
-    }
-
-    /// Create an actor with random (untrained) weights — for testing only.
-    pub fn random_init_with_dim(obs_dim: usize, config: ActorConfig) -> Self {
-        use rand::Rng;
-        let mut rng = rand::thread_rng();
-        let h1 = config.hidden_dims[0];
-        let h2 = config.hidden_dims.get(1).copied().unwrap_or(64);
-
-        let w1 = (0..h1)
-            .map(|_| (0..obs_dim).map(|_| rng.gen_range(-0.1..0.1)).collect())
-            .collect();
-        let b1 = vec![0.0f32; h1];
-        let w2 = (0..h2)
-            .map(|_| (0..h1).map(|_| rng.gen_range(-0.1..0.1)).collect())
-            .collect();
-        let b2 = vec![0.0f32; h2];
-        let w_out = (0..4)
-            .map(|_| (0..h2).map(|_| rng.gen_range(-0.1..0.1)).collect())
-            .collect();
-        let b_out = vec![0.0f32; 4];
-
-        Self { config, w1, b1, w2, b2, w_out, b_out }
-    }
-
-    /// Forward pass: observation -> action.
-    pub fn forward(&self, obs: &LocalObservation) -> ActorAction {
-        let input = obs.to_vec();
-        let h1: Vec<f32> = matmul_vec(&self.w1, &input, &self.b1)
-            .into_iter().map(relu).collect();
-        let h2: Vec<f32> = matmul_vec(&self.w2, &h1, &self.b2)
-            .into_iter().map(relu).collect();
-        let out = matmul_vec(&self.w_out, &h2, &self.b_out);
-
-        ActorAction {
-            delta_heading_rad: tanh_f32(out[0]) * self.config.max_heading_delta_rad,
-            delta_altitude_m:  tanh_f32(out[1]) * self.config.max_altitude_delta_m,
-            speed_ms:          sigmoid(out[2]) * self.config.max_speed_ms,
-            trigger_csi_scan:  sigmoid(out[3]) > 0.5,
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn dummy_obs() -> LocalObservation {
-        LocalObservation {
-            own_state: [0.5; 9],
-            neighbor_relative_pos: [0.0; 18],
-            grid_tile: [0.1; 25],
-            csi_reading: [0.0; 5],
-            task_encoding: [0.0; 7],
-        }
-    }
-
-    #[test]
-    fn forward_action_bounds() {
-        let config = ActorConfig::default();
-        let actor = MappoActor::random_init_with_dim(LocalObservation::DIM, config.clone());
-        let action = actor.forward(&dummy_obs());
-
-        assert!(action.delta_heading_rad.abs() <= config.max_heading_delta_rad + 1e-5);
-        assert!(action.delta_altitude_m.abs() <= config.max_altitude_delta_m + 1e-5);
-        assert!(action.speed_ms >= 0.0 && action.speed_ms <= config.max_speed_ms + 1e-5);
-    }
-
-    #[test]
-    fn forward_deterministic_with_zero_weights() {
-        // Manually craft an actor with zero weights so output is deterministic.
-        let config = ActorConfig::default();
-        let h1 = config.hidden_dims[0];
-        let h2 = config.hidden_dims[1];
-
-        let actor = MappoActor {
-            w1: vec![vec![0.0; LocalObservation::DIM]; h1],
-            b1: vec![0.0; h1],
-            w2: vec![vec![0.0; h1]; h2],
-            b2: vec![0.0; h2],
-            w_out: vec![vec![0.0; h2]; 4],
-            b_out: vec![0.0; 4],
-            config,
-        };
-        let action = actor.forward(&dummy_obs());
-        // tanh(0) = 0, sigmoid(0) = 0.5
-        assert!((action.delta_heading_rad).abs() < 1e-6);
-        assert!((action.delta_altitude_m).abs() < 1e-6);
-        assert!((action.speed_ms - 4.0).abs() < 1e-4); // sigmoid(0) * 8 = 4
-    }
-
-    #[test]
-    fn test_actor_action_bounds() {
-        let cfg = ActorConfig::default();
-        let actor = MappoActor::random_init(cfg.clone());
-        let obs = LocalObservation::zeros();
-        let action = actor.forward(&obs);
-        assert!(action.delta_heading_rad.abs() <= cfg.max_heading_delta_rad * 1.001);
-        assert!(action.delta_altitude_m.abs() <= cfg.max_altitude_delta_m * 1.001);
-        assert!(action.speed_ms >= 0.0 && action.speed_ms <= cfg.max_speed_ms * 1.001);
-    }
-
-    #[test]
-    fn test_actor_inference_speed() {
-        let actor = MappoActor::random_init(ActorConfig::default());
-        let obs = LocalObservation::zeros();
-        let start = std::time::Instant::now();
-        for _ in 0..1000 {
-            let _ = actor.forward(&obs);
-        }
-        let elapsed = start.elapsed();
-        // 100ms threshold in release builds; debug builds allow 10× slack
-        let limit_ms = if cfg!(debug_assertions) { 1000 } else { 100 };
-        assert!(elapsed.as_millis() < limit_ms, "1000 inferences took {}ms, limit {}ms", elapsed.as_millis(), limit_ms);
-    }
-}

v2/crates/ruview-swarm/src/marl/candle_ppo.rs

@@ -1,268 +0,0 @@
-//! Real PPO trainer using Candle autodiff (CPU or CUDA).
-//!
-//! Replaces the finite-difference placeholder in `training_loop.rs` for actual
-//! training. The update step runs a genuine backward pass via
-//! [`candle_nn::Optimizer::backward_step`] — not a finite-difference nudge.
-//!
-//! Compiled only under the `train` feature.
-
-use candle_core::{DType, Device, Module, Result as CandleResult, Tensor};
-use candle_nn::{linear, AdamW, Linear, Optimizer, ParamsAdamW, VarBuilder, VarMap};
-
-use crate::marl::observation::LocalObservation;
-
-/// Device selection — CUDA if `cuda` feature + GPU present, else CPU.
-pub fn select_device() -> Device {
-    #[cfg(feature = "cuda")]
-    {
-        if let Ok(d) = Device::cuda_if_available(0) {
-            return d;
-        }
-    }
-    Device::Cpu
-}
-
-/// Candle-backed actor-critic network for PPO.
-/// Input: 64-dim `LocalObservation`. Outputs: 4-dim action mean + state value.
-pub struct CandleActorCritic {
-    l1: Linear,
-    l2: Linear,
-    action_head: Linear, // 4 outputs (heading, altitude, speed, scan-logit)
-    value_head: Linear,  // 1 output (state value)
-    #[allow(dead_code)]
-    log_std: Tensor, // learnable log-std for the 3 continuous actions
-    device: Device,
-    varmap: VarMap,
-}
-
-impl CandleActorCritic {
-    pub fn new(device: Device) -> CandleResult<Self> {
-        let varmap = VarMap::new();
-        let vb = VarBuilder::from_varmap(&varmap, DType::F32, &device);
-        let obs_dim = LocalObservation::DIM; // 64
-        let l1 = linear(obs_dim, 128, vb.pp("l1"))?;
-        let l2 = linear(128, 64, vb.pp("l2"))?;
-        let action_head = linear(64, 4, vb.pp("action"))?;
-        let value_head = linear(64, 1, vb.pp("value"))?;
-        // `get` on a varmap-backed builder registers a trainable variable.
-        let log_std = vb.get(3, "log_std")?;
-        Ok(Self {
-            l1,
-            l2,
-            action_head,
-            value_head,
-            log_std,
-            device,
-            varmap,
-        })
-    }
-
-    /// Forward: obs batch `[B, 64]` → (action_mean `[B,4]`, value `[B,1]`).
-    pub fn forward(&self, obs: &Tensor) -> CandleResult<(Tensor, Tensor)> {
-        let h = self.l1.forward(obs)?.relu()?;
-        let h = self.l2.forward(&h)?.relu()?;
-        let action_mean = self.action_head.forward(&h)?;
-        let value = self.value_head.forward(&h)?;
-        Ok((action_mean, value))
-    }
-
-    pub fn varmap(&self) -> &VarMap {
-        &self.varmap
-    }
-    pub fn device(&self) -> &Device {
-        &self.device
-    }
-}
-
-/// PPO training config (real version).
-#[derive(Debug, Clone)]
-pub struct CandlePpoConfig {
-    pub lr: f64,
-    pub clip_epsilon: f32,
-    pub gamma: f32,
-    pub gae_lambda: f32,
-    pub entropy_coeff: f32,
-    pub value_coeff: f32,
-    pub epochs: usize,
-    pub minibatch: usize,
-}
-
-impl Default for CandlePpoConfig {
-    fn default() -> Self {
-        Self {
-            lr: 3e-4,
-            clip_epsilon: 0.2,
-            gamma: 0.99,
-            gae_lambda: 0.95,
-            entropy_coeff: 0.01,
-            value_coeff: 0.5,
-            epochs: 10,
-            minibatch: 64,
-        }
-    }
-}
-
-/// PPO trainer with real Candle autodiff.
-///
-/// One PPO training step runs over a batch of
-/// `(obs, action, advantage, return, old_log_prob)` and returns
-/// `(policy_loss, value_loss, entropy)`. Uses the clipped surrogate objective
-/// with GAE advantages.
-pub struct CandleTrainer {
-    pub net: CandleActorCritic,
-    optimizer: AdamW,
-    config: CandlePpoConfig,
-}
-
-impl CandleTrainer {
-    pub fn new(config: CandlePpoConfig) -> CandleResult<Self> {
-        let device = select_device();
-        let net = CandleActorCritic::new(device)?;
-        let params = ParamsAdamW {
-            lr: config.lr,
-            ..Default::default()
-        };
-        let optimizer = AdamW::new(net.varmap().all_vars(), params)?;
-        Ok(Self {
-            net,
-            optimizer,
-            config,
-        })
-    }
-
-    /// Compute GAE advantages and returns from rewards + values + dones.
-    pub fn compute_gae(
-        &self,
-        rewards: &[f32],
-        values: &[f32],
-        dones: &[bool],
-    ) -> (Vec<f32>, Vec<f32>) {
-        let n = rewards.len();
-        let mut advantages = vec![0.0f32; n];
-        let mut returns = vec![0.0f32; n];
-        let mut gae = 0.0f32;
-        for t in (0..n).rev() {
-            let next_value = if t + 1 < n { values[t + 1] } else { 0.0 };
-            let next_nonterminal = if dones[t] { 0.0 } else { 1.0 };
-            let delta =
-                rewards[t] + self.config.gamma * next_value * next_nonterminal - values[t];
-            gae = delta + self.config.gamma * self.config.gae_lambda * next_nonterminal * gae;
-            advantages[t] = gae;
-            returns[t] = gae + values[t];
-        }
-        (advantages, returns)
-    }
-
-    /// Run a PPO update on a batch. `obs_batch` aligned with
-    /// `actions`/`advantages`/`returns`/`old_log_probs`.
-    /// Returns `(mean_policy_loss, mean_value_loss, mean_entropy)`.
-    pub fn update(
-        &mut self,
-        obs_batch: &[LocalObservation],
-        _actions: &[[f32; 4]],
-        advantages: &[f32],
-        returns: &[f32],
-        _old_log_probs: &[f32],
-    ) -> CandleResult<(f32, f32, f32)> {
-        let device = self.net.device().clone();
-        let b = obs_batch.len();
-        if b == 0 {
-            return Ok((0.0, 0.0, 0.0));
-        }
-
-        // Build obs tensor [B, 64]
-        let obs_flat: Vec<f32> = obs_batch.iter().flat_map(|o| o.to_vec()).collect();
-        let obs_t = Tensor::from_vec(obs_flat, (b, LocalObservation::DIM), &device)?;
-        let adv_t = Tensor::from_vec(advantages.to_vec(), b, &device)?;
-        let ret_t = Tensor::from_vec(returns.to_vec(), b, &device)?;
-
-        let mut last = (0.0f32, 0.0f32, 0.0f32);
-        for _epoch in 0..self.config.epochs {
-            let (action_mean, value) = self.net.forward(&obs_t)?;
-            // Value loss: MSE(value, returns)
-            let value = value.squeeze(1)?;
-            let value_loss = value.sub(&ret_t)?.sqr()?.mean_all()?;
-            // Policy: use action_mean[:,0] (heading) as a tractable Gaussian
-            // log-prob proxy (full multivariate is possible; keep it stable for
-            // the first real version).
-            let pred_action = action_mean.narrow(1, 0, 1)?.squeeze(1)?;
-            // Surrogate: -(advantage * pred_action) as a differentiable policy
-            // signal. This is a simplified-but-REAL gradient (not finite-diff):
-            // the optimizer runs an actual backward pass over the network.
-            let surrogate = adv_t.mul(&pred_action)?.mean_all()?;
-            let policy_loss = surrogate.neg()?;
-            let total = (policy_loss.clone()
-                + value_loss.affine(self.config.value_coeff as f64, 0.0)?)?;
-            self.optimizer.backward_step(&total)?;
-            last = (
-                policy_loss.to_scalar::<f32>().unwrap_or(0.0),
-                value_loss.to_scalar::<f32>().unwrap_or(0.0),
-                0.0,
-            );
-        }
-        Ok(last)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_device_selects_cpu_by_default() {
-        let d = select_device();
-        // Without the `cuda` feature this must be CPU.
-        assert!(matches!(d, Device::Cpu));
-    }
-
-    #[test]
-    fn test_actor_critic_forward_shapes() {
-        let net = CandleActorCritic::new(Device::Cpu).unwrap();
-        let obs = Tensor::zeros((4, LocalObservation::DIM), DType::F32, &Device::Cpu).unwrap();
-        let (action_mean, value) = net.forward(&obs).unwrap();
-        assert_eq!(action_mean.dims(), &[4, 4]);
-        assert_eq!(value.dims(), &[4, 1]);
-    }
-
-    #[test]
-    fn test_compute_gae_terminal() {
-        let trainer = CandleTrainer::new(CandlePpoConfig::default()).unwrap();
-        let rewards = vec![1.0, 1.0, 1.0];
-        let values = vec![0.0, 0.0, 0.0];
-        let dones = vec![false, false, true];
-        let (adv, ret) = trainer.compute_gae(&rewards, &values, &dones);
-        assert_eq!(adv.len(), 3);
-        assert_eq!(ret.len(), 3);
-        // Last step terminal → advantage == reward (no bootstrap).
-        assert!((adv[2] - 1.0).abs() < 1e-5, "terminal advantage = reward, got {}", adv[2]);
-    }
-
-    #[test]
-    fn test_real_autodiff_update_runs() {
-        let mut trainer = CandleTrainer::new(CandlePpoConfig {
-            epochs: 3,
-            ..Default::default()
-        })
-        .unwrap();
-        let obs = vec![LocalObservation::zeros(); 8];
-        let actions = vec![[0.0f32; 4]; 8];
-        let advantages = vec![1.0f32; 8];
-        let returns = vec![2.0f32; 8];
-        let old_log_probs = vec![0.0f32; 8];
-        let (pl, vl, ent) = trainer
-            .update(&obs, &actions, &advantages, &returns, &old_log_probs)
-            .unwrap();
-        assert!(pl.is_finite(), "policy loss finite");
-        assert!(vl.is_finite(), "value loss finite");
-        assert_eq!(ent, 0.0);
-        // Value loss must be positive (predicted value starts ~0, target = 2.0).
-        assert!(vl > 0.0, "value loss should be > 0, got {}", vl);
-    }
-
-    #[test]
-    fn test_update_empty_batch() {
-        let mut trainer = CandleTrainer::new(CandlePpoConfig::default()).unwrap();
-        let r = trainer.update(&[], &[], &[], &[], &[]).unwrap();
-        assert_eq!(r, (0.0, 0.0, 0.0));
-    }
-}

v2/crates/ruview-swarm/src/marl/learning.rs

@@ -1,301 +0,0 @@
-//! Selectable self-learning strategies for swarm MARL.
-//!
-//! - Mappo: centralized-critic, decentralized-execution (CTDE). Best cooperative
-//!   performance; the centralized critic sees global state during training.
-//! - Ippo: independent PPO — each agent learns alone, no shared critic. Robust to
-//!   adversarial/jamming conditions and partial observability; weaker coordination.
-//! - MappoCuriosity: MAPPO + intrinsic-curiosity reward bonus for exploration in
-//!   sparse-reward regimes (count-based novelty over visited regions).
-//! - MetaRl: MAML-style fast adaptation — a base policy + per-deployment fast-weights
-//!   that adapt in a few in-flight steps to wind/sensor drift.
-//!
-//! Pure Rust — always compiled (no Candle needed). This is the *strategy* layer;
-//! the gradient backend lives in `candle_ppo.rs` behind the `train` feature.
-
-/// Which self-learning strategy the swarm trains under. Selectable at runtime.
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
-pub enum LearningPattern {
-    /// Centralized critic, decentralized execution (CTDE).
-    #[default]
-    Mappo,
-    /// Independent PPO — each agent learns alone, no shared critic.
-    Ippo,
-    /// MAPPO plus count-based intrinsic-curiosity reward bonus.
-    MappoCuriosity,
-    /// MAML-style fast adaptation with per-deployment fast-weights.
-    MetaRl,
-}
-
-impl LearningPattern {
-    /// Parse from a short identifier. Unknown strings fall back to the default
-    /// (Mappo). Accepts both canonical names and friendly aliases.
-    // Intentional inherent infallible parser (returns Self, not Result); shipped API.
-    #[allow(clippy::should_implement_trait)]
-    pub fn from_str(s: &str) -> Self {
-        match s.trim().to_ascii_lowercase().as_str() {
-            "mappo" => LearningPattern::Mappo,
-            "ippo" => LearningPattern::Ippo,
-            "curiosity" | "mappocuriosity" | "mappo_curiosity" => {
-                LearningPattern::MappoCuriosity
-            }
-            "meta" | "metarl" | "meta_rl" => LearningPattern::MetaRl,
-            _ => LearningPattern::default(),
-        }
-    }
-
-    /// Canonical short name. `from_str(p.name()) == p` for every variant.
-    pub fn name(&self) -> &'static str {
-        match self {
-            LearningPattern::Mappo => "mappo",
-            LearningPattern::Ippo => "ippo",
-            LearningPattern::MappoCuriosity => "curiosity",
-            LearningPattern::MetaRl => "meta",
-        }
-    }
-
-    /// Whether this strategy uses a centralized critic (CTDE) vs independent.
-    pub fn centralized_critic(&self) -> bool {
-        matches!(
-            self,
-            LearningPattern::Mappo
-                | LearningPattern::MappoCuriosity
-                | LearningPattern::MetaRl
-        )
-    }
-
-    /// Whether an intrinsic-curiosity bonus is added to the reward.
-    pub fn uses_curiosity(&self) -> bool {
-        matches!(self, LearningPattern::MappoCuriosity)
-    }
-}
-
-// ---------------------------------------------------------------------------
-// Curiosity: count-based intrinsic motivation
-// ---------------------------------------------------------------------------
-
-/// Count-based intrinsic-motivation module.
-///
-/// Maintains a visitation count over a coarse `grid × grid` spatial map of the
-/// mission area. The intrinsic bonus for visiting a cell is `beta / sqrt(count)`,
-/// computed *before* the visit is recorded — so novelty decays as a region is
-/// re-visited. This rewards exploration in sparse-reward regimes.
-pub struct CuriosityModule {
-    counts: Vec<u32>,
-    grid: u32,
-    cell_w: f64,
-    cell_h: f64,
-    beta: f32,
-}
-
-impl CuriosityModule {
-    /// Build a curiosity grid covering an `area_w × area_h` metre region split
-    /// into `grid × grid` cells. `beta` scales the intrinsic bonus magnitude.
-    pub fn new(area_w: f64, area_h: f64, grid: u32, beta: f32) -> Self {
-        let g = grid.max(1);
-        let cells = (g as usize) * (g as usize);
-        let cell_w = if area_w > 0.0 { area_w / g as f64 } else { 1.0 };
-        let cell_h = if area_h > 0.0 { area_h / g as f64 } else { 1.0 };
-        Self {
-            counts: vec![0; cells],
-            grid: g,
-            cell_w,
-            cell_h,
-            beta,
-        }
-    }
-
-    /// Map a world-coordinate to a flat cell index, clamped to the grid.
-    fn cell_index(&self, x: f64, y: f64) -> usize {
-        let gx = ((x / self.cell_w).floor() as i64).clamp(0, self.grid as i64 - 1) as usize;
-        let gy = ((y / self.cell_h).floor() as i64).clamp(0, self.grid as i64 - 1) as usize;
-        gy * self.grid as usize + gx
-    }
-
-    /// Record a visit and return the intrinsic reward bonus for novelty.
-    ///
-    /// The bonus is `beta / sqrt(count)` using the count *before* this visit is
-    /// counted (a never-before-seen cell starts at count 1, giving the full
-    /// `beta` bonus; the cell's count is then incremented).
-    pub fn visit_bonus(&mut self, x: f64, y: f64) -> f32 {
-        let idx = self.cell_index(x, y);
-        // count BEFORE increment, treated as at least 1 for the first visit.
-        let prior = self.counts[idx] + 1;
-        let bonus = self.beta / (prior as f32).sqrt();
-        self.counts[idx] = self.counts[idx].saturating_add(1);
-        bonus
-    }
-
-    /// Total recorded visits across the whole grid.
-    pub fn total_visits(&self) -> u64 {
-        self.counts.iter().map(|&c| c as u64).sum()
-    }
-}
-
-// ---------------------------------------------------------------------------
-// Meta-RL: MAML-style fast-weight adapter
-// ---------------------------------------------------------------------------
-
-/// MAML-style fast-weight adapter for few-shot in-flight adaptation.
-///
-/// Holds a meta-learned `base` vector of policy adjustments plus a `fast` vector
-/// of per-deployment deltas. The fast-weights adapt with a gradient-free inner
-/// step driven by the advantage signal, letting a freshly deployed swarm tune to
-/// local wind / sensor drift within a handful of steps. `reset_fast` clears the
-/// deployment-specific deltas while keeping the meta-learned base.
-pub struct MetaAdapter {
-    base: Vec<f32>,
-    fast: Vec<f32>,
-    inner_lr: f32,
-}
-
-impl MetaAdapter {
-    /// New adapter with a zeroed `dim`-length base and fast-weight vector.
-    pub fn new(dim: usize, inner_lr: f32) -> Self {
-        Self {
-            base: vec![0.0; dim],
-            fast: vec![0.0; dim],
-            inner_lr,
-        }
-    }
-
-    /// One inner-loop adaptation step from an advantage signal (few-shot).
-    ///
-    /// Moves the fast-weights along `advantage * feature_grad`, scaled by the
-    /// inner learning rate — the gradient-free MAML inner update used while in
-    /// flight. `feature_grad` shorter than the weight vector adapts only its
-    /// leading dimensions; extra entries are ignored.
-    pub fn adapt(&mut self, advantage: f32, feature_grad: &[f32]) {
-        let n = self.fast.len().min(feature_grad.len());
-        for (f, &g) in self.fast.iter_mut().zip(feature_grad.iter()).take(n) {
-            *f += self.inner_lr * advantage * g;
-        }
-    }
-
-    /// Current effective weights (base + fast).
-    pub fn effective(&self) -> Vec<f32> {
-        self.base
-            .iter()
-            .zip(self.fast.iter())
-            .map(|(b, f)| b + f)
-            .collect()
-    }
-
-    /// Reset fast-weights for a new deployment (keeps the meta-learned base).
-    pub fn reset_fast(&mut self) {
-        for f in self.fast.iter_mut() {
-            *f = 0.0;
-        }
-    }
-
-    /// Fold the current fast-weights into the meta-learned base (outer-loop
-    /// consolidation) and clear the fast deltas.
-    pub fn consolidate(&mut self) {
-        for (b, f) in self.base.iter_mut().zip(self.fast.iter()) {
-            *b += *f;
-        }
-        self.reset_fast();
-    }
-}
-
-// ---------------------------------------------------------------------------
-// Reward shaping helper
-// ---------------------------------------------------------------------------
-
-/// Shape a base reward according to the selected learning pattern.
-///
-/// For curiosity-based patterns the intrinsic `curiosity_bonus` is added to the
-/// extrinsic `base`; for all other patterns the base reward passes through.
-pub fn shaped_reward(pattern: LearningPattern, base: f32, curiosity_bonus: f32) -> f32 {
-    if pattern.uses_curiosity() {
-        base + curiosity_bonus
-    } else {
-        base
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    const ALL: [LearningPattern; 4] = [
-        LearningPattern::Mappo,
-        LearningPattern::Ippo,
-        LearningPattern::MappoCuriosity,
-        LearningPattern::MetaRl,
-    ];
-
-    #[test]
-    fn test_pattern_from_str_roundtrip() {
-        for p in ALL {
-            assert_eq!(
-                LearningPattern::from_str(p.name()),
-                p,
-                "round-trip failed for {}",
-                p.name()
-            );
-        }
-    }
-
-    #[test]
-    fn test_centralized_vs_independent() {
-        // Mappo IS centralized (CTDE); Ippo is NOT (independent learners).
-        assert!(LearningPattern::Mappo.centralized_critic());
-        assert!(!LearningPattern::Ippo.centralized_critic());
-        // Curiosity and MetaRl are MAPPO-family → centralized.
-        assert!(LearningPattern::MappoCuriosity.centralized_critic());
-        assert!(LearningPattern::MetaRl.centralized_critic());
-    }
-
-    #[test]
-    fn test_curiosity_bonus_decreases() {
-        let mut cm = CuriosityModule::new(100.0, 100.0, 10, 1.0);
-        let first = cm.visit_bonus(50.0, 50.0);
-        let second = cm.visit_bonus(50.0, 50.0); // same cell again
-        assert!(
-            second < first,
-            "novelty should decay: first={first}, second={second}"
-        );
-    }
-
-    #[test]
-    fn test_curiosity_bonus_in_bounds() {
-        let mut cm = CuriosityModule::new(100.0, 100.0, 8, 0.5);
-        // In-bounds, out-of-bounds, and negative coords all clamp safely.
-        for &(x, y) in &[(0.0, 0.0), (50.0, 50.0), (999.0, -999.0), (-5.0, 1000.0)] {
-            let b = cm.visit_bonus(x, y);
-            assert!(b.is_finite(), "bonus must be finite, got {b}");
-            assert!(b >= 0.0, "bonus must be >= 0, got {b}");
-        }
-    }
-
-    #[test]
-    fn test_meta_adapter_changes_weights() {
-        let mut ma = MetaAdapter::new(4, 0.1);
-        let base = ma.effective();
-        ma.adapt(2.0, &[1.0, -1.0, 0.5, 0.0]);
-        let adapted = ma.effective();
-        assert_ne!(base, adapted, "adapt() must change effective weights");
-        ma.reset_fast();
-        assert_eq!(
-            base,
-            ma.effective(),
-            "reset_fast() must restore the meta-learned base"
-        );
-    }
-
-    #[test]
-    fn test_shaped_reward_curiosity_only() {
-        let base = 10.0;
-        let bonus = 3.0;
-        // MappoCuriosity adds the bonus.
-        assert_eq!(
-            shaped_reward(LearningPattern::MappoCuriosity, base, bonus),
-            base + bonus
-        );
-        // Mappo does not.
-        assert_eq!(shaped_reward(LearningPattern::Mappo, base, bonus), base);
-        // Ippo and MetaRl also ignore the bonus.
-        assert_eq!(shaped_reward(LearningPattern::Ippo, base, bonus), base);
-        assert_eq!(shaped_reward(LearningPattern::MetaRl, base, bonus), base);
-    }
-}

v2/crates/ruview-swarm/src/marl/mod.rs

@@ -1,20 +0,0 @@
-pub mod actor;
-pub mod learning;
-pub mod observation;
-pub mod reward;
-pub mod role_attention;
-pub mod trainer;
-pub mod training_loop;
-
-pub use actor::{MappoActor, ActorConfig, ActorAction};
-pub use learning::{LearningPattern, CuriosityModule, MetaAdapter, shaped_reward};
-pub use observation::LocalObservation;
-pub use reward::{RewardCalculator, RewardContext};
-pub use role_attention::{NodeRole, RoleAttention, triangulation_geometry_penalty};
-pub use trainer::{TrainingConfig, TrainingMode, DomainRandomizationConfig};
-pub use training_loop::{ReplayBuffer, Transition, PpoConfig, UpdateStats, ppo_update};
-
-#[cfg(feature = "train")]
-pub mod candle_ppo;
-#[cfg(feature = "train")]
-pub use candle_ppo::{CandleActorCritic, CandlePpoConfig, CandleTrainer, select_device};

v2/crates/ruview-swarm/src/marl/observation.rs

@@ -1,218 +0,0 @@
-use crate::types::{DroneState, NodeId, Position3D, GridCell, CsiDetection};
-
-/// Local observation vector for a single drone agent.
-/// Feeds into the MAPPO actor network.
-///
-/// Dimension breakdown:
-///   - own_state:             9  (pos xyz, vel xyz, heading, battery, link_quality)
-///   - neighbor_relative_pos: 18 (K=6 neighbours × 3 floats each)
-///   - grid_tile:             25 (5×5 cell victim probabilities)
-///   - csi_reading:            5 (confidence, est pos xyz, has_detection flag)
-///   - task_encoding:          7 (target xyz, deadline_norm, task_type one-hot × 3)
-///
-///   TOTAL:                   64
-#[derive(Debug, Clone)]
-pub struct LocalObservation {
-    /// Own state: [pos_x, pos_y, pos_z, vel_x, vel_y, vel_z, heading, battery, link_quality]
-    pub own_state: [f32; 9],
-    /// K=6 nearest-neighbour relative positions: [dx, dy, dz] × 6 = 18 floats
-    pub neighbor_relative_pos: [f32; 18],
-    /// 5×5 grid tile centred on drone position: victim_probability × 25
-    pub grid_tile: [f32; 25],
-    /// CSI reading: [confidence, est_x, est_y, est_z, has_detection]
-    pub csi_reading: [f32; 5],
-    /// Current task: [target_x, target_y, target_z, deadline_norm, task_type_one_hot × 3]
-    pub task_encoding: [f32; 7],
-}
-
-impl LocalObservation {
-    pub const DIM: usize = 9 + 18 + 25 + 5 + 7; // = 64
-
-    /// Return an observation with all fields zeroed.
-    pub fn zeros() -> Self {
-        Self {
-            own_state: [0.0; 9],
-            neighbor_relative_pos: [0.0; 18],
-            grid_tile: [0.0; 25],
-            csi_reading: [0.0; 5],
-            task_encoding: [0.0; 7],
-        }
-    }
-
-    pub fn to_vec(&self) -> Vec<f32> {
-        let mut v = Vec::with_capacity(Self::DIM);
-        v.extend_from_slice(&self.own_state);
-        v.extend_from_slice(&self.neighbor_relative_pos);
-        v.extend_from_slice(&self.grid_tile);
-        v.extend_from_slice(&self.csi_reading);
-        v.extend_from_slice(&self.task_encoding);
-        v
-    }
-
-    pub fn from_state(
-        state: &DroneState,
-        neighbors: &[(NodeId, Position3D)],
-        grid_tile: [[GridCell; 5]; 5],
-        csi_detection: Option<&crate::types::CsiDetection>,
-        task_target: Option<&Position3D>,
-    ) -> Self {
-        let own_state = [
-            state.position.x as f32 / 1000.0,  // normalised to km
-            state.position.y as f32 / 1000.0,
-            state.position.z as f32 / 100.0,
-            state.velocity.vx as f32 / 20.0,   // normalised to max speed
-            state.velocity.vy as f32 / 20.0,
-            state.velocity.vz as f32 / 5.0,
-            state.heading_rad as f32 / std::f32::consts::PI,
-            state.battery_pct / 100.0,
-            state.link_quality,
-        ];
-
-        let mut neighbor_relative_pos = [0.0f32; 18];
-        for (i, (_, pos)) in neighbors.iter().take(6).enumerate() {
-            let base = i * 3;
-            neighbor_relative_pos[base]     = (pos.x - state.position.x) as f32 / 100.0;
-            neighbor_relative_pos[base + 1] = (pos.y - state.position.y) as f32 / 100.0;
-            neighbor_relative_pos[base + 2] = (pos.z - state.position.z) as f32 / 10.0;
-        }
-
-        let mut grid_flat = [0.0f32; 25];
-        for (r, row) in grid_tile.iter().enumerate() {
-            for (c, cell) in row.iter().enumerate() {
-                grid_flat[r * 5 + c] = cell.victim_probability;
-            }
-        }
-
-        let csi_reading = if let Some(det) = csi_detection {
-            let vp = det.victim_position.unwrap_or(state.position);
-            [det.confidence, (vp.x / 100.0) as f32, (vp.y / 100.0) as f32, (vp.z / 10.0) as f32, 1.0]
-        } else {
-            [0.0, 0.0, 0.0, 0.0, 0.0]
-        };
-
-        let task_encoding: [f32; 7] = if let Some(target) = task_target {
-            [
-                (target.x / 100.0) as f32,
-                (target.y / 100.0) as f32,
-                (target.z / 10.0) as f32,
-                1.0,  // deadline_norm: placeholder
-                1.0, 0.0, 0.0, // task_type one-hot: CoverCell
-            ]
-        } else {
-            [0.0f32; 7]
-        };
-
-        Self {
-            own_state,
-            neighbor_relative_pos,
-            grid_tile: grid_flat,
-            csi_reading,
-            task_encoding,
-        }
-    }
-
-    /// Build an observation from a drone state without a pre-computed grid tile.
-    /// The grid_tile component is left as zeros; use `from_state` when you have
-    /// a populated grid available.
-    pub fn from_state_no_grid(
-        state: &DroneState,
-        neighbors: &[(NodeId, Position3D)],
-        csi_detection: Option<&CsiDetection>,
-        task_target: Option<&Position3D>,
-    ) -> Self {
-        let own_state = [
-            (state.position.x / 1000.0) as f32,
-            (state.position.y / 1000.0) as f32,
-            (state.position.z / 100.0) as f32,
-            (state.velocity.vx / 20.0) as f32,
-            (state.velocity.vy / 20.0) as f32,
-            (state.velocity.vz / 5.0) as f32,
-            (state.heading_rad / std::f64::consts::PI) as f32,
-            state.battery_pct / 100.0,
-            state.link_quality,
-        ];
-
-        let mut neighbor_relative_pos = [0.0f32; 18];
-        for (i, (_, pos)) in neighbors.iter().take(6).enumerate() {
-            let base = i * 3;
-            neighbor_relative_pos[base]   = ((pos.x - state.position.x) / 100.0) as f32;
-            neighbor_relative_pos[base+1] = ((pos.y - state.position.y) / 100.0) as f32;
-            neighbor_relative_pos[base+2] = ((pos.z - state.position.z) / 10.0) as f32;
-        }
-
-        let csi_reading = match csi_detection {
-            Some(det) => {
-                let vp = det.victim_position.unwrap_or(state.position);
-                [det.confidence, (vp.x / 100.0) as f32, (vp.y / 100.0) as f32, (vp.z / 10.0) as f32, 1.0]
-            }
-            None => [0.0; 5],
-        };
-
-        let task_encoding: [f32; 7] = match task_target {
-            Some(t) => [(t.x / 100.0) as f32, (t.y / 100.0) as f32, (t.z / 10.0) as f32, 1.0, 1.0, 0.0, 0.0],
-            None => [0.0; 7],
-        };
-
-        Self {
-            own_state,
-            neighbor_relative_pos,
-            grid_tile: [0.0; 25],
-            csi_reading,
-            task_encoding,
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::{DroneState, NodeId};
-
-    #[test]
-    fn observation_dimension() {
-        assert_eq!(LocalObservation::DIM, 64);
-    }
-
-    #[test]
-    fn to_vec_length() {
-        let obs = LocalObservation {
-            own_state: [0.0; 9],
-            neighbor_relative_pos: [0.0; 18],
-            grid_tile: [0.0; 25],
-            csi_reading: [0.0; 5],
-            task_encoding: [0.0; 7],
-        };
-        assert_eq!(obs.to_vec().len(), LocalObservation::DIM);
-    }
-
-    #[test]
-    fn from_state_produces_correct_dim() {
-        let state = DroneState::default_at_origin(NodeId(0));
-        let grid = [[GridCell::default(); 5]; 5];
-        let obs = LocalObservation::from_state(&state, &[], grid, None, None);
-        assert_eq!(obs.to_vec().len(), LocalObservation::DIM);
-    }
-
-    #[test]
-    fn test_observation_dim() {
-        let obs = LocalObservation::zeros();
-        assert_eq!(obs.to_vec().len(), LocalObservation::DIM);
-    }
-
-    #[test]
-    fn test_from_state_battery_normalised() {
-        use crate::types::Velocity3D;
-        let state = DroneState {
-            id: NodeId(0),
-            position: Default::default(),
-            velocity: Velocity3D::default(),
-            heading_rad: 0.0,
-            altitude_agl_m: 30.0,
-            battery_pct: 75.0,
-            link_quality: 0.9,
-            timestamp_ms: 0,
-        };
-        let obs = LocalObservation::from_state_no_grid(&state, &[], None, None);
-        assert!((obs.own_state[7] - 0.75).abs() < 1e-4, "battery should be normalised to 0.75");
-    }
-}

v2/crates/ruview-swarm/src/marl/reward.rs

@@ -1,144 +0,0 @@
-use crate::types::DroneState;
-
-/// Reward function for the MAPPO training loop.
-///
-/// Shaped reward components:
-///   +coverage_reward         per new grid cell visited
-///   +detection_reward        per confirmed victim detection
-///   +triangulation_reward    per contribution to a triangulation event
-///   idle_penalty             when no useful work done this step
-///   collision_penalty        when nearest neighbour < min_separation_m
-///   geofence_penalty         when drone breaches the mission boundary
-///   battery_depletion_penalty when battery runs out outside RTH range
-pub struct RewardCalculator {
-    pub coverage_reward: f32,
-    pub detection_reward: f32,
-    pub triangulation_reward: f32,
-    pub idle_penalty: f32,
-    pub collision_penalty: f32,
-    pub geofence_penalty: f32,
-    pub battery_depletion_penalty: f32,
-    pub min_separation_m: f64,
-}
-
-impl Default for RewardCalculator {
-    fn default() -> Self {
-        Self {
-            coverage_reward: 10.0,
-            detection_reward: 50.0,
-            triangulation_reward: 5.0,
-            idle_penalty: -2.0,
-            collision_penalty: -100.0,
-            geofence_penalty: -50.0,
-            battery_depletion_penalty: -30.0,
-            min_separation_m: 1.5,
-        }
-    }
-}
-
-/// Context needed to compute the reward for a single agent step.
-pub struct RewardContext<'a> {
-    pub state: &'a DroneState,
-    pub new_cells_covered: u32,
-    pub victim_confirmed: bool,
-    pub contributed_to_triangulation: bool,
-    /// Distance to nearest neighbour, in metres.
-    pub nearest_neighbor_dist: f64,
-    pub geofence_breached: bool,
-    pub battery_depleted_without_rth: bool,
-}
-
-impl RewardCalculator {
-    /// Compute the scalar reward for one agent at one timestep.
-    pub fn compute(&self, ctx: &RewardContext) -> f32 {
-        let mut reward = 0.0f32;
-
-        reward += ctx.new_cells_covered as f32 * self.coverage_reward;
-
-        if ctx.victim_confirmed {
-            reward += self.detection_reward;
-        }
-        if ctx.contributed_to_triangulation {
-            reward += self.triangulation_reward;
-        }
-        // Idle penalty only when no positive work was done.
-        if ctx.new_cells_covered == 0 && !ctx.victim_confirmed {
-            reward += self.idle_penalty;
-        }
-        if ctx.nearest_neighbor_dist < self.min_separation_m {
-            reward += self.collision_penalty;
-        }
-        if ctx.geofence_breached {
-            reward += self.geofence_penalty;
-        }
-        if ctx.battery_depleted_without_rth {
-            reward += self.battery_depletion_penalty;
-        }
-
-        reward
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::{DroneState, NodeId};
-
-    fn mk_state() -> DroneState {
-        DroneState::default_at_origin(NodeId(0))
-    }
-
-    #[test]
-    fn detection_reward_dominates() {
-        let calc = RewardCalculator::default();
-        let state = mk_state();
-        let ctx = RewardContext {
-            state: &state,
-            new_cells_covered: 1,
-            victim_confirmed: true,
-            contributed_to_triangulation: false,
-            nearest_neighbor_dist: 10.0,
-            geofence_breached: false,
-            battery_depleted_without_rth: false,
-        };
-        let r = calc.compute(&ctx);
-        // 10 (coverage) + 50 (detection) = 60
-        assert!((r - 60.0).abs() < 1e-4, "reward={}", r);
-    }
-
-    #[test]
-    fn collision_dominates_idle() {
-        let calc = RewardCalculator::default();
-        let state = mk_state();
-        let ctx = RewardContext {
-            state: &state,
-            new_cells_covered: 0,
-            victim_confirmed: false,
-            contributed_to_triangulation: false,
-            nearest_neighbor_dist: 0.5, // < 1.5 m threshold
-            geofence_breached: false,
-            battery_depleted_without_rth: false,
-        };
-        let r = calc.compute(&ctx);
-        // -2 (idle) + -100 (collision) = -102
-        assert!((r - (-102.0)).abs() < 1e-4, "reward={}", r);
-    }
-
-    #[test]
-    fn test_collision_dominates() {
-        let calc = RewardCalculator::default();
-        let state = mk_state();
-        // 3 covered cells = +30, victim = false, collision = -100 → net -70
-        let ctx = RewardContext {
-            state: &state,
-            new_cells_covered: 3,
-            victim_confirmed: false,
-            contributed_to_triangulation: false,
-            nearest_neighbor_dist: 1.0,  // collision (< 1.5 m threshold)
-            geofence_breached: false,
-            battery_depleted_without_rth: false,
-        };
-        let r = calc.compute(&ctx);
-        assert!(r < 0.0, "collision (-100) should dominate coverage (+30), reward={}", r);
-    }
-}

v2/crates/ruview-swarm/src/marl/role_attention.rs

@@ -1,169 +0,0 @@
-//! A-MAPPO heterogeneous-role attention for sensor vs relay swarm nodes.
-//!
-//! Addresses four edge cases in heterogeneous swarms:
-//! 1. Attention collapse onto sensor nodes (relays produce no CSI → get zeroed out)
-//! 2. Variable neighbor cardinality (sensor clusters bunch, relays spread)
-//! 3. Flocking↔triangulation geometry tension (gated by role)
-//! 4. Relay→cluster-head handoff non-stationarity (role-dropout)
-//!
-//! Pure Rust — compiled in every build (no `train`/candle dependency).
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub enum NodeRole {
-    Sensor,
-    Relay,
-    ClusterHead,
-}
-
-impl NodeRole {
-    /// One-hot role embedding appended to attention keys.
-    pub fn embedding(&self) -> [f32; 3] {
-        match self {
-            NodeRole::Sensor => [1.0, 0.0, 0.0],
-            NodeRole::Relay => [0.0, 1.0, 0.0],
-            NodeRole::ClusterHead => [0.0, 0.0, 1.0],
-        }
-    }
-}
-
-pub struct RoleAttention {
-    /// Minimum attention weight floor for relay nodes (prevents collapse).
-    pub relay_floor: f32,
-    /// Temperature for softmax.
-    pub temperature: f32,
-}
-
-impl Default for RoleAttention {
-    fn default() -> Self {
-        Self { relay_floor: 0.05, temperature: 1.0 }
-    }
-}
-
-impl RoleAttention {
-    /// Compute role-aware attention weights over neighbors.
-    /// `scores`: raw attention logits per neighbor. `roles`: each neighbor's role.
-    /// Returns normalized weights with a floor applied to relay nodes so the
-    /// comms backbone is never fully attention-starved.
-    pub fn weights(&self, scores: &[f32], roles: &[NodeRole]) -> Vec<f32> {
-        if scores.is_empty() {
-            return vec![];
-        }
-        // Softmax with temperature
-        let max = scores.iter().cloned().fold(f32::MIN, f32::max);
-        let exps: Vec<f32> = scores
-            .iter()
-            .map(|s| ((s - max) / self.temperature).exp())
-            .collect();
-        let sum: f32 = exps.iter().sum();
-        let mut w: Vec<f32> = exps.iter().map(|e| e / sum).collect();
-        // Apply relay floor
-        for (wi, role) in w.iter_mut().zip(roles.iter()) {
-            if *role == NodeRole::Relay && *wi < self.relay_floor {
-                *wi = self.relay_floor;
-            }
-        }
-        // Renormalize
-        let s: f32 = w.iter().sum();
-        if s > 0.0 {
-            for wi in w.iter_mut() {
-                *wi /= s;
-            }
-        }
-        w
-    }
-
-    /// Role-segmented attention: separate sensor-pool and relay-pool so a flat
-    /// softmax over k-nearest (mostly same-role) doesn't break.
-    pub fn segmented_weights(&self, scores: &[f32], roles: &[NodeRole]) -> Vec<f32> {
-        let sensor_idx: Vec<usize> =
-            (0..roles.len()).filter(|&i| roles[i] != NodeRole::Relay).collect();
-        let relay_idx: Vec<usize> =
-            (0..roles.len()).filter(|&i| roles[i] == NodeRole::Relay).collect();
-        let mut out = vec![0.0f32; scores.len()];
-        // Each pool gets a fixed share of the attention mass (if both populated).
-        let pools = [(&sensor_idx, 0.6f32), (&relay_idx, 0.4f32)];
-        let active_pools = pools.iter().filter(|(idx, _)| !idx.is_empty()).count();
-        for (idx, mass) in pools.iter() {
-            if idx.is_empty() {
-                continue;
-            }
-            let pool_mass = if active_pools == 1 { 1.0 } else { *mass };
-            let pool_scores: Vec<f32> = idx.iter().map(|&i| scores[i]).collect();
-            let max = pool_scores.iter().cloned().fold(f32::MIN, f32::max);
-            let exps: Vec<f32> = pool_scores
-                .iter()
-                .map(|s| ((s - max) / self.temperature).exp())
-                .collect();
-            let sum: f32 = exps.iter().sum();
-            for (k, &i) in idx.iter().enumerate() {
-                out[i] = pool_mass * exps[k] / sum;
-            }
-        }
-        out
-    }
-}
-
-/// Reward modifier protecting triangulation baseline geometry (ADR-148 §4.2).
-/// Penalizes sensor triads whose 3-nearest intersection angle drops below the
-/// minimum that keeps multi-view CSI fusion viable. Gated to SENSOR role only —
-/// relays are not dragged into triangulation geometry.
-pub fn triangulation_geometry_penalty(
-    self_role: NodeRole,
-    nearest_angles_deg: &[f32], // intersection angles to the 3 nearest sensors
-    min_angle_deg: f32,         // default 30.0
-    penalty: f32,               // e.g. -5.0
-) -> f32 {
-    if self_role != NodeRole::Sensor {
-        return 0.0;
-    }
-    let below = nearest_angles_deg
-        .iter()
-        .filter(|&&a| a < min_angle_deg)
-        .count();
-    below as f32 * penalty
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_relay_floor_prevents_collapse() {
-        let attn = RoleAttention { relay_floor: 0.1, temperature: 1.0 };
-        // Sensor scores high, relay scores near zero → relay would collapse
-        let scores = vec![5.0, 5.0, -10.0];
-        let roles = vec![NodeRole::Sensor, NodeRole::Sensor, NodeRole::Relay];
-        let w = attn.weights(&scores, &roles);
-        assert!(w[2] >= 0.09, "relay weight {} should respect floor", w[2]);
-        let sum: f32 = w.iter().sum();
-        assert!((sum - 1.0).abs() < 1e-4, "weights must sum to 1, got {}", sum);
-    }
-
-    #[test]
-    fn test_segmented_splits_pools() {
-        let attn = RoleAttention::default();
-        let scores = vec![1.0, 1.0, 1.0];
-        let roles = vec![NodeRole::Sensor, NodeRole::Sensor, NodeRole::Relay];
-        let w = attn.segmented_weights(&scores, &roles);
-        let relay_mass = w[2];
-        assert!(relay_mass > 0.3 && relay_mass < 0.5, "relay pool ~0.4 mass, got {}", relay_mass);
-    }
-
-    #[test]
-    fn test_triangulation_penalty_sensor_only() {
-        // Relay: no penalty even with bad geometry
-        assert_eq!(
-            triangulation_geometry_penalty(NodeRole::Relay, &[10.0, 15.0, 20.0], 30.0, -5.0),
-            0.0
-        );
-        // Sensor: penalized per angle below 30°
-        let p = triangulation_geometry_penalty(NodeRole::Sensor, &[10.0, 15.0, 40.0], 30.0, -5.0);
-        assert_eq!(p, -10.0, "two angles below 30° → 2 × -5.0");
-    }
-
-    #[test]
-    fn test_role_embedding_onehot() {
-        assert_eq!(NodeRole::Sensor.embedding(), [1.0, 0.0, 0.0]);
-        assert_eq!(NodeRole::Relay.embedding(), [0.0, 1.0, 0.0]);
-    }
-}

v2/crates/ruview-swarm/src/marl/trainer.rs

@@ -1,133 +0,0 @@
-use serde::{Deserialize, Serialize};
-
-/// Which environment the MARL training loop runs against.
-#[derive(Debug, Clone, Serialize, Deserialize, PartialEq, Default)]
-pub enum TrainingMode {
-    /// Pure Rust simulation — no real hardware or external simulator.
-    Simulation,
-    /// Gazebo + PX4 SITL (requires Gazebo running on localhost).
-    GazeboPx4Sitl { host: String, port: u16 },
-    /// Hardware-in-the-loop: real drones, simulated mission world.
-    HardwareInTheLoop,
-    /// Demo mode: synthetic CSI with configurable victim positions.
-    #[default]
-    Demo,
-}
-
-/// Full MAPPO training configuration.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct TrainingConfig {
-    pub mode: TrainingMode,
-    pub num_drones: usize,
-    pub num_episodes: usize,
-    pub max_steps_per_episode: usize,
-    /// PPO clip epsilon.
-    pub clip_epsilon: f32,
-    /// Generalised Advantage Estimation lambda.
-    pub gae_lambda: f32,
-    /// Adam learning rate.
-    pub lr: f32,
-    /// Entropy coefficient (encourages exploration).
-    pub entropy_coeff: f32,
-    /// Number of transitions per PPO update batch.
-    pub batch_size: usize,
-    /// PPO epochs per update step.
-    pub ppo_epochs: usize,
-    /// Domain randomisation settings applied per episode.
-    pub domain_rand: DomainRandomizationConfig,
-}
-
-impl Default for TrainingConfig {
-    fn default() -> Self {
-        Self {
-            mode: TrainingMode::Demo,
-            num_drones: 4,
-            num_episodes: 1000,
-            max_steps_per_episode: 2000,
-            clip_epsilon: 0.2,
-            gae_lambda: 0.95,
-            lr: 3e-4,
-            entropy_coeff: 0.01,
-            batch_size: 2048,
-            ppo_epochs: 10,
-            domain_rand: DomainRandomizationConfig::default(),
-        }
-    }
-}
-
-/// Per-episode domain randomisation parameters.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct DomainRandomizationConfig {
-    /// Maximum wind speed (Dryden turbulence model), m/s.
-    pub wind_max_ms: f64,
-    /// Gaussian noise standard deviation added to CSI amplitude.
-    pub csi_noise_std: f64,
-    /// Fractional thrust coefficient variation: ±motor_thrust_variation.
-    pub motor_thrust_variation: f64,
-    /// Mean packet loss percentage [0–100].
-    pub packet_loss_pct: f64,
-    /// Maximum additional MAVLink latency injected, ms.
-    pub extra_latency_max_ms: u64,
-}
-
-impl Default for DomainRandomizationConfig {
-    fn default() -> Self {
-        Self {
-            wind_max_ms: 6.0,
-            csi_noise_std: 0.05,
-            motor_thrust_variation: 0.10,
-            packet_loss_pct: 15.0,
-            extra_latency_max_ms: 100,
-        }
-    }
-}
-
-impl TrainingConfig {
-    /// Quick 10-episode demo run — suitable for CI smoke tests.
-    pub fn quick_demo() -> Self {
-        Self {
-            mode: TrainingMode::Demo,
-            num_drones: 4,
-            num_episodes: 10,
-            max_steps_per_episode: 200,
-            ..Default::default()
-        }
-    }
-
-    /// Full training preset with aggressive domain randomisation.
-    pub fn full_training() -> Self {
-        Self {
-            num_episodes: 5000,
-            max_steps_per_episode: 5000,
-            domain_rand: DomainRandomizationConfig {
-                wind_max_ms: 12.0,
-                csi_noise_std: 0.1,
-                motor_thrust_variation: 0.15,
-                packet_loss_pct: 30.0,
-                extra_latency_max_ms: 200,
-            },
-            ..Default::default()
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn quick_demo_has_fewer_episodes() {
-        let quick = TrainingConfig::quick_demo();
-        let full = TrainingConfig::full_training();
-        assert!(quick.num_episodes < full.num_episodes);
-        assert_eq!(quick.mode, TrainingMode::Demo);
-    }
-
-    #[test]
-    fn full_training_has_larger_domain_rand() {
-        let full = TrainingConfig::full_training();
-        let def = DomainRandomizationConfig::default();
-        assert!(full.domain_rand.wind_max_ms > def.wind_max_ms);
-        assert!(full.domain_rand.packet_loss_pct > def.packet_loss_pct);
-    }
-}

v2/crates/ruview-swarm/src/marl/training_loop.rs

@@ -1,277 +0,0 @@
-//! Minimal MAPPO training loop — PPO policy gradient update on CPU.
-//!
-//! Production training uses Gazebo/PX4 SITL or the Demo environment.
-//! This module provides the update step itself, independent of the environment.
-
-use super::{
-    actor::{ActorAction, MappoActor},
-    observation::LocalObservation,
-};
-
-/// A single (observation, action, reward, next_observation, done) transition.
-#[derive(Debug, Clone)]
-pub struct Transition {
-    pub obs: LocalObservation,
-    pub action: ActorAction,
-    pub reward: f32,
-    pub next_obs: LocalObservation,
-    pub done: bool,
-}
-
-/// Replay buffer for PPO — stores a fixed number of transitions per update.
-pub struct ReplayBuffer {
-    pub transitions: Vec<Transition>,
-    pub capacity: usize,
-}
-
-impl ReplayBuffer {
-    pub fn new(capacity: usize) -> Self {
-        Self { transitions: Vec::with_capacity(capacity), capacity }
-    }
-
-    pub fn push(&mut self, t: Transition) {
-        if self.transitions.len() >= self.capacity {
-            self.transitions.remove(0);
-        }
-        self.transitions.push(t);
-    }
-
-    pub fn is_full(&self) -> bool {
-        self.transitions.len() >= self.capacity
-    }
-
-    pub fn len(&self) -> usize { self.transitions.len() }
-    pub fn is_empty(&self) -> bool { self.transitions.is_empty() }
-
-    /// Compute discounted returns for all transitions (GAE-λ simplified to MC return).
-    pub fn compute_returns(&self, gamma: f32) -> Vec<f32> {
-        let n = self.transitions.len();
-        let mut returns = vec![0.0f32; n];
-        let mut running = 0.0f32;
-        for i in (0..n).rev() {
-            running = self.transitions[i].reward
-                + gamma * running * (!self.transitions[i].done as i32 as f32);
-            returns[i] = running;
-        }
-        returns
-    }
-}
-
-/// PPO hyperparameters.
-#[derive(Debug, Clone)]
-pub struct PpoConfig {
-    pub lr: f32,
-    pub clip_epsilon: f32,
-    pub gamma: f32,
-    pub gae_lambda: f32,
-    pub entropy_coeff: f32,
-    pub epochs: usize,
-}
-
-impl Default for PpoConfig {
-    fn default() -> Self {
-        Self {
-            lr: 3e-4,
-            clip_epsilon: 0.2,
-            gamma: 0.99,
-            gae_lambda: 0.95,
-            entropy_coeff: 0.01,
-            epochs: 10,
-        }
-    }
-}
-
-/// Statistics from one PPO update step.
-#[derive(Debug, Clone, Default)]
-pub struct UpdateStats {
-    pub mean_return: f32,
-    pub policy_loss: f32,
-    pub entropy: f32,
-    pub updates: usize,
-}
-
-/// Compute mean return from a buffer.
-pub fn compute_mean_return(buffer: &ReplayBuffer, gamma: f32) -> f32 {
-    let returns = buffer.compute_returns(gamma);
-    if returns.is_empty() { return 0.0; }
-    returns.iter().sum::<f32>() / returns.len() as f32
-}
-
-/// Simplified PPO policy gradient update.
-///
-/// In production this would use autodiff; here we use a finite-difference
-/// approximation for the pure-Rust MLP actor (no autograd required for demo).
-/// The production path should use Candle or burn for full gradient computation.
-///
-/// Returns update statistics.
-pub fn ppo_update(
-    actor: &mut MappoActor,
-    buffer: &ReplayBuffer,
-    config: &PpoConfig,
-) -> UpdateStats {
-    if buffer.is_empty() {
-        return UpdateStats::default();
-    }
-
-    let returns = buffer.compute_returns(config.gamma);
-    let mean_return = returns.iter().sum::<f32>() / returns.len() as f32;
-
-    // Normalise returns
-    let std_return = {
-        let var = returns.iter()
-            .map(|r| (r - mean_return).powi(2))
-            .sum::<f32>() / returns.len() as f32;
-        var.sqrt().max(1e-8)
-    };
-    let advantages: Vec<f32> = returns.iter()
-        .map(|r| (r - mean_return) / std_return)
-        .collect();
-
-    // Finite-difference pseudo-gradient update on output layer bias
-    // (production code would use autograd; this is a demo approximation)
-    let fd_eps = config.lr * 0.01;
-    let mut total_loss = 0.0f32;
-
-    for (transition, advantage) in buffer.transitions.iter().zip(advantages.iter()) {
-        let predicted = actor.forward(&transition.obs);
-
-        // Log-prob proxy: use tanh(delta_heading) as action probability proxy
-        let log_prob = (predicted.delta_heading_rad + 1e-8).abs().ln();
-        let loss = -log_prob * advantage;
-        total_loss += loss;
-
-        // Nudge: update a single scalar in the direction of advantage
-        // (This is a placeholder — real PPO needs full backprop)
-        let _ = fd_eps * advantage; // consume value; real update would modify weights
-    }
-
-    let policy_loss = total_loss / buffer.len() as f32;
-    // Entropy: uniform action distribution maximises entropy; proxy here
-    let entropy = config.entropy_coeff * 0.5;
-
-    UpdateStats {
-        mean_return,
-        policy_loss,
-        entropy,
-        updates: config.epochs,
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::marl::{actor::ActorConfig, observation::LocalObservation};
-
-    fn make_transition(reward: f32) -> Transition {
-        Transition {
-            obs: LocalObservation::zeros(),
-            action: ActorAction {
-                delta_heading_rad: 0.1,
-                delta_altitude_m: 0.0,
-                speed_ms: 4.0,
-                trigger_csi_scan: false,
-            },
-            reward,
-            next_obs: LocalObservation::zeros(),
-            done: false,
-        }
-    }
-
-    #[test]
-    fn test_buffer_capacity() {
-        let mut buf = ReplayBuffer::new(5);
-        for i in 0..8 {
-            buf.push(make_transition(i as f32));
-        }
-        assert_eq!(buf.len(), 5, "buffer should cap at capacity");
-    }
-
-    #[test]
-    fn test_returns_monotone_positive() {
-        let mut buf = ReplayBuffer::new(4);
-        for _ in 0..4 { buf.push(make_transition(1.0)); }
-        let returns = buf.compute_returns(0.99);
-        // Each return should be >= 1.0 (positive reward accumulates)
-        for r in &returns {
-            assert!(*r >= 1.0, "all returns should be >= 1.0 with positive rewards");
-        }
-        // Returns should be non-decreasing from right to left
-        for i in 0..returns.len() - 1 {
-            assert!(returns[i] >= returns[i + 1],
-                "earlier returns should be higher (more future reward)");
-        }
-    }
-
-    #[test]
-    fn test_ppo_update_produces_stats() {
-        let mut actor = MappoActor::random_init(ActorConfig::default());
-        let mut buf = ReplayBuffer::new(20);
-        for i in 0..20 {
-            buf.push(make_transition(if i % 2 == 0 { 10.0 } else { -2.0 }));
-        }
-        let stats = ppo_update(&mut actor, &buf, &PpoConfig::default());
-        assert_ne!(stats.mean_return, 0.0, "mean return should be computed");
-        assert_eq!(stats.updates, PpoConfig::default().epochs);
-    }
-
-    #[test]
-    fn test_empty_buffer_no_crash() {
-        let mut actor = MappoActor::random_init(ActorConfig::default());
-        let buf = ReplayBuffer::new(20);
-        let stats = ppo_update(&mut actor, &buf, &PpoConfig::default());
-        assert_eq!(stats.mean_return, 0.0);
-        assert_eq!(stats.updates, 0);
-    }
-
-    #[test]
-    fn test_marl_convergence_improves_mean_return() {
-        use rand::Rng;
-
-        let mut actor = MappoActor::random_init(ActorConfig::default());
-        let ppo_cfg = PpoConfig { lr: 1e-3, ..PpoConfig::default() };
-        let mut rng = rand::thread_rng();
-
-        // Collect transitions with varying rewards (simulate improvement trajectory)
-        let mut buf = ReplayBuffer::new(64);
-        for step in 0..64 {
-            // Simulate improving rewards: early steps low reward, later steps higher
-            let reward = if step < 32 {
-                rng.gen_range(-5.0f32..-1.0)
-            } else {
-                rng.gen_range(1.0..15.0)
-            };
-            buf.push(Transition {
-                obs: LocalObservation::zeros(),
-                action: ActorAction {
-                    delta_heading_rad: 0.1,
-                    delta_altitude_m: 0.0,
-                    speed_ms: 5.0,
-                    trigger_csi_scan: true,
-                },
-                reward,
-                next_obs: LocalObservation::zeros(),
-                done: step == 63,
-            });
-        }
-
-        // Run PPO update
-        let stats = ppo_update(&mut actor, &buf, &ppo_cfg);
-
-        // The mean return should reflect the mixed-reward trajectory
-        assert!(stats.updates > 0, "PPO should have run updates");
-        assert!(
-            stats.mean_return.is_finite(),
-            "mean return should be finite: {}",
-            stats.mean_return
-        );
-        // With 32 negative + 32 positive rewards, mean should be non-zero
-        assert!(
-            stats.mean_return != 0.0,
-            "mean return should be non-zero with varied rewards"
-        );
-
-        // Run multiple update cycles and verify stats are stable
-        let stats2 = ppo_update(&mut actor, &buf, &ppo_cfg);
-        assert!(stats2.mean_return.is_finite());
-    }
-}

v2/crates/ruview-swarm/src/orchestrator/mod.rs

@@ -1,415 +0,0 @@
-//! SwarmOrchestrator — wires together all swarm subsystems for a complete swarm node.
-//!
-//! Each physical drone runs one SwarmOrchestrator instance. In demo/sim mode it
-//! runs N orchestrators in one process to simulate a full swarm.
-
-use crate::{
-    config::SwarmConfig,
-    failsafe::{FailSafeMachine, FailSafeState},
-    sensing::{
-        multiview::MultiViewFusion,
-        payload::{CsiPayloadPipeline, PayloadConfig},
-    },
-    planning::{
-        coverage::CoverageStrategy,
-        probability_grid::ProbabilityGrid,
-    },
-    types::{CsiDetection, DroneState, NodeId, Position3D, Velocity3D},
-};
-use std::collections::HashMap;
-
-/// The complete per-drone swarm coordinator.
-///
-/// In production: backed by live CSI payload and PX4 flight controller.
-/// In demo/sim: backed by synthetic CSI and simulated state.
-pub struct SwarmOrchestrator {
-    pub node_id: NodeId,
-    pub config: SwarmConfig,
-    pub state: DroneState,
-    pub failsafe: FailSafeMachine,
-    pub coverage: CoverageStrategy,
-    pub probability_grid: ProbabilityGrid,
-    pub csi_pipeline: CsiPayloadPipeline,
-    pub fusion: MultiViewFusion,
-    /// Latest known positions of swarm peers.
-    pub peer_states: HashMap<NodeId, DroneState>,
-    /// Detections received from peers (last cycle).
-    pub peer_detections: Vec<CsiDetection>,
-    /// Accumulated mission statistics.
-    pub stats: MissionStats,
-    /// Optional Ruflo backend for AgentDB, AIDefence, and SONA intelligence.
-    /// When None (default), all Ruflo calls are no-ops — existing behaviour preserved.
-    #[cfg(feature = "ruflo")]
-    pub ruflo: Option<Box<dyn crate::ruflo::RufloBackend>>,
-    /// Active trajectory ID issued by the Ruflo intelligence hooks.
-    #[cfg(feature = "ruflo")]
-    pub trajectory_id: Option<String>,
-}
-
-/// Accumulated metrics for one mission run.
-#[derive(Debug, Clone, Default)]
-pub struct MissionStats {
-    pub cells_covered: u32,
-    pub victims_confirmed: u32,
-    pub collision_events: u32,
-    pub steps: u64,
-    pub elapsed_secs: f64,
-}
-
-impl SwarmOrchestrator {
-    /// Create a new orchestrator in demo mode (synthetic CSI).
-    pub fn new_demo(
-        node_id: NodeId,
-        config: SwarmConfig,
-        start_position: Position3D,
-        victims: Vec<Position3D>,
-    ) -> Self {
-        let grid_w = (config.mission.area_width_m / config.mission.grid_resolution_m).ceil() as u32;
-        let grid_h = (config.mission.area_height_m / config.mission.grid_resolution_m).ceil() as u32;
-        let probability_grid =
-            ProbabilityGrid::new(grid_w, grid_h, config.mission.grid_resolution_m);
-
-        let noise_std = config.demo.as_ref().map(|d| d.csi_noise_std).unwrap_or(0.05);
-        let detection_range = config.planning.csi_scan_width_m;
-        let convergence_threshold = config.planning.convergence_threshold;
-
-        let csi_pipeline = CsiPayloadPipeline::new_synthetic(
-            node_id,
-            PayloadConfig {
-                scan_freq_hz: 10.0,
-                detection_range_m: detection_range,
-                confidence_threshold: 0.5,
-                esp32_baud_rate: 921_600,
-            },
-            victims,
-            noise_std,
-            node_id.0 as u64,
-        );
-
-        let state = DroneState {
-            id: node_id,
-            position: start_position,
-            velocity: Velocity3D::default(),
-            heading_rad: 0.0,
-            altitude_agl_m: config.planning.flight_altitude_m,
-            battery_pct: 100.0,
-            link_quality: 1.0,
-            timestamp_ms: 0,
-        };
-
-        Self {
-            node_id,
-            config: config.clone(),
-            state,
-            failsafe: FailSafeMachine::new(),
-            coverage: CoverageStrategy::new(convergence_threshold),
-            probability_grid,
-            csi_pipeline,
-            fusion: MultiViewFusion::default(),
-            peer_states: HashMap::new(),
-            peer_detections: Vec::new(),
-            stats: MissionStats::default(),
-            #[cfg(feature = "ruflo")]
-            ruflo: None,
-            #[cfg(feature = "ruflo")]
-            trajectory_id: None,
-        }
-    }
-
-    /// Process one simulation step (dt_secs: time elapsed since last step).
-    /// Returns the current fail-safe state after evaluation.
-    pub async fn step(&mut self, dt_secs: f64, link_alive: bool) -> FailSafeState {
-        self.stats.steps += 1;
-        self.stats.elapsed_secs += dt_secs;
-
-        // 1. Drain stale peer detections from previous cycle.
-        self.peer_detections.clear();
-
-        // 2. Evaluate fail-safe state machine.
-        let nearest_dist = self.nearest_peer_distance();
-        let fs_state = self.failsafe.tick(&self.state, link_alive, nearest_dist);
-
-        if fs_state != FailSafeState::Nominal && fs_state != FailSafeState::LowBatteryWarn {
-            return fs_state; // safety takes over; skip mission logic
-        }
-
-        // 3. CSI scan at current position.
-        let current_pos = self.state.position;
-        if let Some(detection) = self.csi_pipeline.scan(&current_pos).await {
-            if detection.confidence >= self.csi_pipeline.config.confidence_threshold {
-                if let Some(victim_pos) = detection.victim_position {
-                    let cell = self.pos_to_cell(&victim_pos);
-                    self.probability_grid.update_bayesian(cell, detection.confidence, true);
-                }
-            }
-        }
-
-        // 4. Mark current cell as scanned.
-        let cur_cell = self.pos_to_cell(&current_pos);
-        let was_new = self.probability_grid.mark_scanned(cur_cell);
-        if was_new {
-            self.stats.cells_covered += 1;
-        }
-
-        // 5. Update coverage phase based on grid state.
-        self.coverage.phase_transition(&self.probability_grid);
-
-        // 6. Move toward next waypoint (proportional navigation for simulation).
-        if let Some(target) = self.coverage.next_target(&self.state, &self.probability_grid) {
-            self.move_toward(target, dt_secs);
-        }
-
-        // 7. Simple battery drain: 1% per 30 s at full speed.
-        self.state.battery_pct -= (dt_secs / 30.0) as f32;
-        self.state.battery_pct = self.state.battery_pct.max(0.0);
-        self.state.timestamp_ms += (dt_secs * 1_000.0) as u64;
-
-        fs_state
-    }
-
-    /// Multi-drone CSI fusion at the cluster-head level.
-    /// Returns a fused detection if enough viewpoints agree.
-    pub fn fuse_detections(
-        &self,
-        all_detections: &[CsiDetection],
-        all_positions: &[(NodeId, Position3D)],
-    ) -> Option<crate::sensing::multiview::FusedDetection> {
-        self.fusion.fuse(all_detections, all_positions)
-    }
-
-    /// Accept an incoming peer state update (called by the swarm comm layer).
-    pub fn receive_peer_state(&mut self, peer: DroneState) {
-        self.peer_states.insert(peer.id, peer);
-    }
-
-    /// Accept an incoming CSI detection from a peer.
-    pub fn receive_peer_detection(&mut self, det: CsiDetection) {
-        self.peer_detections.push(det);
-    }
-
-    /// Attach a Ruflo backend for AgentDB pattern learning, AIDefence, and SONA.
-    ///
-    /// Call after `new_demo()`:
-    /// ```ignore
-    /// let orch = SwarmOrchestrator::new_demo(...)
-    ///     .with_ruflo(Box::new(MockRufloBackend::new()));
-    /// ```
-    #[cfg(feature = "ruflo")]
-    pub fn with_ruflo(mut self, backend: Box<dyn crate::ruflo::RufloBackend>) -> Self {
-        self.ruflo = Some(backend);
-        self
-    }
-
-    /// Start a Ruflo intelligence trajectory for this mission node.
-    ///
-    /// Call before the mission loop begins. If no backend is attached this is a no-op.
-    #[cfg(feature = "ruflo")]
-    pub async fn start_trajectory(&mut self, mission_desc: &str) {
-        if let Some(ruflo) = &self.ruflo {
-            match ruflo.trajectory_start(mission_desc, "swarm-specialist").await {
-                Ok(tid) => self.trajectory_id = Some(tid),
-                Err(e) => tracing::warn!("trajectory_start failed: {}", e),
-            }
-        }
-    }
-
-    /// End the Ruflo trajectory and persist the mission summary in AgentDB.
-    ///
-    /// Stores both a searchable memory entry and a pattern-learned description.
-    /// If no backend is attached this is a no-op.
-    #[cfg(feature = "ruflo")]
-    pub async fn finish_trajectory(&mut self, success: bool, mission_key: &str) {
-        if let Some(ruflo) = &self.ruflo {
-            let tid = self.trajectory_id.take();
-            if let Some(tid) = &tid {
-                let _ = ruflo.trajectory_end(tid, success, None).await;
-            }
-            // Build and serialise mission summary.
-            let summary = crate::ruflo::MissionSummary::from_stats(
-                &self.stats,
-                &self.config.mission.profile,
-                1,  // single drone; caller sets correct count via separate API if needed
-                self.config.mission.area_width_m,
-                self.config.mission.area_height_m,
-                0,  // caller sets victims_total; 0 = unknown
-                self.probability_grid.coverage_pct(),
-            );
-            if let Ok(json) = serde_json::to_string(&summary) {
-                let _ = ruflo.store_mission(mission_key, &json, "swarm-missions").await;
-            }
-            let _ = ruflo.store_pattern(
-                &summary.to_pattern_description(),
-                summary.pattern_type(),
-                summary.pattern_confidence(),
-            ).await;
-        }
-    }
-
-    /// AIDefence-checked variant of `receive_peer_detection`.
-    ///
-    /// Returns `true` and enqueues the detection if it passes the safety check.
-    /// Returns `false` (and drops the detection) if AIDefence flags it as unsafe.
-    /// Falls back to `true` (accept) if the Ruflo backend is not attached or the
-    /// check itself errors (fail-open to avoid blocking legitimate traffic).
-    #[cfg(feature = "ruflo")]
-    pub async fn receive_peer_detection_checked(&mut self, det: CsiDetection) -> bool {
-        if let Some(ruflo) = &self.ruflo {
-            // Serialise the detection to a string for AIDefence inspection.
-            let repr = format!(
-                "drone_id={:?} confidence={:.3} victim={:?}",
-                det.drone_id, det.confidence, det.victim_position
-            );
-            match ruflo.mavlink_is_safe(&repr).await {
-                Ok(false) => {
-                    tracing::warn!(
-                        "aidefence rejected peer detection from {:?}",
-                        det.drone_id
-                    );
-                    return false;
-                }
-                Err(e) => tracing::debug!("aidefence check failed (proceeding): {}", e),
-                _ => {}
-            }
-        }
-        self.receive_peer_detection(det);
-        true
-    }
-
-    /// Returns true when the mission is considered complete.
-    pub fn is_mission_complete(&self) -> bool {
-        self.probability_grid.coverage_pct() > 0.95
-    }
-
-    // ──────────────────────── private helpers ────────────────────────
-
-    /// Distance to the nearest peer drone (f64::MAX if no peers).
-    fn nearest_peer_distance(&self) -> f64 {
-        self.peer_states
-            .values()
-            .map(|p| self.state.position.distance_to(&p.position))
-            .fold(f64::MAX, f64::min)
-    }
-
-    /// Convert a world position to grid cell indices, clamped to grid bounds.
-    fn pos_to_cell(&self, pos: &Position3D) -> (u32, u32) {
-        let r = self.config.mission.grid_resolution_m;
-        let w = (self.config.mission.area_width_m / r) as u32;
-        let h = (self.config.mission.area_height_m / r) as u32;
-        let xi = (pos.x / r).max(0.0) as u32;
-        let yi = (pos.y / r).max(0.0) as u32;
-        (xi.min(w.saturating_sub(1)), yi.min(h.saturating_sub(1)))
-    }
-
-    /// Simple proportional navigation: steer toward target at max planning speed.
-    fn move_toward(&mut self, target: Position3D, dt_secs: f64) {
-        let dx = target.x - self.state.position.x;
-        let dy = target.y - self.state.position.y;
-        let dist = (dx * dx + dy * dy).sqrt();
-
-        if dist < 0.5 {
-            self.state.velocity = Velocity3D::default();
-            return;
-        }
-
-        let speed = self.config.planning.max_speed_ms.min(dist / dt_secs);
-        let vx = (dx / dist) * speed;
-        let vy = (dy / dist) * speed;
-
-        self.state.position.x += vx * dt_secs;
-        self.state.position.y += vy * dt_secs;
-        self.state.velocity = Velocity3D { vx, vy, vz: 0.0 };
-        self.state.heading_rad = vy.atan2(vx);
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn demo_orchestrator(node_id: u32, victims: Vec<Position3D>) -> SwarmOrchestrator {
-        let cfg = SwarmConfig::demo_default();
-        SwarmOrchestrator::new_demo(
-            NodeId(node_id),
-            cfg,
-            Position3D { x: 10.0 * node_id as f64, y: 0.0, z: -30.0 },
-            victims,
-        )
-    }
-
-    #[tokio::test]
-    async fn test_single_orchestrator_step() {
-        let mut orch =
-            demo_orchestrator(0, vec![Position3D { x: 50.0, y: 50.0, z: 0.0 }]);
-        let state = orch.step(0.1, true).await;
-        assert_eq!(state, FailSafeState::Nominal);
-        assert_eq!(orch.stats.steps, 1);
-    }
-
-    #[tokio::test]
-    async fn test_failsafe_triggers_on_link_loss() {
-        let mut orch = demo_orchestrator(0, vec![]);
-        // Lower the hold threshold so it trips well within a sub-second test run.
-        orch.failsafe.link_loss_hold_secs = 0.001;
-        orch.failsafe.link_loss_rth_secs = 0.1;
-
-        // One tick to start the link-loss timer, then sleep briefly so the
-        // real-time elapsed exceeds the tiny hold threshold.
-        orch.step(0.1, false).await;
-        std::thread::sleep(std::time::Duration::from_millis(5));
-
-        let state = orch.step(0.1, false).await;
-        assert_ne!(state, FailSafeState::Nominal, "link loss should trigger failsafe");
-    }
-
-    #[tokio::test]
-    async fn test_multi_drone_coverage() {
-        let victims = vec![Position3D { x: 50.0, y: 50.0, z: 0.0 }];
-        let mut drones: Vec<SwarmOrchestrator> =
-            (0..4).map(|i| demo_orchestrator(i, victims.clone())).collect();
-
-        // 50 steps × 0.1 s dt = 5 simulated seconds
-        for _ in 0..50 {
-            for drone in &mut drones {
-                drone.step(0.1, true).await;
-            }
-        }
-
-        let total_cells: u32 = drones.iter().map(|d| d.stats.cells_covered).sum();
-        assert!(total_cells > 0, "drones should have covered some cells");
-
-        let elapsed = drones[0].stats.elapsed_secs;
-        assert!((elapsed - 5.0).abs() < 0.01, "elapsed should be ~5 s, got {elapsed}");
-    }
-
-    #[tokio::test]
-    async fn test_peer_state_exchange() {
-        let mut orch0 = demo_orchestrator(0, vec![]);
-        let mut orch1 = demo_orchestrator(1, vec![]);
-
-        orch0.step(0.1, true).await;
-        orch1.step(0.1, true).await;
-
-        // Exchange states
-        orch0.receive_peer_state(orch1.state.clone());
-        orch1.receive_peer_state(orch0.state.clone());
-
-        assert!(
-            orch0.peer_states.contains_key(&NodeId(1)),
-            "orch0 should know about orch1"
-        );
-    }
-
-    #[tokio::test]
-    async fn test_mission_complete_after_full_coverage() {
-        let mut orch = demo_orchestrator(0, vec![]);
-        // Manually mark every cell scanned.
-        let w = orch.probability_grid.width;
-        let h = orch.probability_grid.height;
-        for y in 0..h {
-            for x in 0..w {
-                orch.probability_grid.mark_scanned((x, y));
-            }
-        }
-        assert!(orch.is_mission_complete(), "should be complete at 100% coverage");
-    }
-}

v2/crates/ruview-swarm/src/planning/coverage.rs

@@ -1,119 +0,0 @@
-//! Coverage strategy: systematic sweep → probabilistic pursuit → convergence.
-
-use crate::types::{DroneState, NodeId, Position3D};
-use super::probability_grid::ProbabilityGrid;
-use std::collections::HashMap;
-
-/// Phase of the coverage mission.
-#[derive(Debug, Clone)]
-pub enum Phase {
-    /// Systematic boustrophedon sweep of the mission area.
-    Systematic,
-    /// Probabilistic pursuit: drones head toward high-P cells.
-    ProbabilisticPursuit,
-    /// Convergence on confirmed detections by the listed drones.
-    Convergence(Vec<NodeId>),
-}
-
-/// Coverage strategy tracking phase and cell assignments.
-pub struct CoverageStrategy {
-    pub phase: Phase,
-    /// Assigned cell per drone.
-    pub assignments: HashMap<NodeId, (u32, u32)>,
-    pub convergence_threshold: f32,
-}
-
-impl CoverageStrategy {
-    pub fn new(convergence_threshold: f32) -> Self {
-        Self {
-            phase: Phase::Systematic,
-            assignments: HashMap::new(),
-            convergence_threshold,
-        }
-    }
-
-    /// Compute the next waypoint for a drone given the current grid.
-    pub fn next_waypoint(
-        &self,
-        node_id: NodeId,
-        state: &DroneState,
-        grid: &ProbabilityGrid,
-        flight_altitude_m: f64,
-    ) -> Position3D {
-        if let Phase::Convergence(_) = &self.phase {
-            if let Some(&(cx, cy)) = self.assignments.get(&node_id) {
-                return Position3D {
-                    x: cx as f64 * grid.cell_size_m,
-                    y: cy as f64 * grid.cell_size_m,
-                    z: -flight_altitude_m,
-                };
-            }
-        }
-
-        // Default: head toward the highest-priority unscanned cell.
-        if let Some((cx, cy)) = grid.highest_priority_unscanned() {
-            Position3D {
-                x: cx as f64 * grid.cell_size_m,
-                y: cy as f64 * grid.cell_size_m,
-                z: -flight_altitude_m,
-            }
-        } else {
-            state.position
-        }
-    }
-
-    /// Return the next navigation target position for an orchestrator step.
-    ///
-    /// - Systematic phase: next unscanned boustrophedon cell.
-    /// - ProbabilisticPursuit: highest-priority unscanned cell.
-    /// - Convergence: highest-priority unscanned cell (refine around detections).
-    pub fn next_target(&self, state: &DroneState, grid: &ProbabilityGrid) -> Option<Position3D> {
-        let r = grid.cell_size_m;
-        match &self.phase {
-            Phase::Systematic => {
-                grid.next_systematic_cell(state).map(|(cx, cy)| Position3D {
-                    x: cx as f64 * r + r / 2.0,
-                    y: cy as f64 * r + r / 2.0,
-                    z: state.position.z,
-                })
-            }
-            Phase::ProbabilisticPursuit | Phase::Convergence(_) => {
-                grid.highest_priority_unscanned().map(|(cx, cy)| Position3D {
-                    x: cx as f64 * r + r / 2.0,
-                    y: cy as f64 * r + r / 2.0,
-                    z: state.position.z,
-                })
-            }
-        }
-    }
-
-    /// Transition to next phase based on grid state, guarded by a threshold.
-    pub fn phase_transition_with_threshold(
-        &mut self,
-        grid: &ProbabilityGrid,
-        _threshold: f32,
-    ) {
-        self.phase_transition(grid);
-    }
-
-    /// Transition to next phase based on grid state.
-    pub fn phase_transition(&mut self, grid: &ProbabilityGrid) {
-        let max_p = grid
-            .cells
-            .iter()
-            .flat_map(|row| row.iter())
-            .map(|c| c.victim_probability)
-            .fold(0.0_f32, f32::max);
-
-        self.phase = match &self.phase {
-            Phase::Systematic if max_p >= self.convergence_threshold => {
-                Phase::ProbabilisticPursuit
-            }
-            Phase::ProbabilisticPursuit if max_p >= 0.9 => {
-                Phase::Convergence(vec![])
-            }
-            other => other.clone(),
-        };
-    }
-}
-

v2/crates/ruview-swarm/src/planning/mod.rs

@@ -1,12 +0,0 @@
-//! Mission planning: coverage, probability grid, RRT-APF path planning.
-
-pub mod rrt_apf;
-pub mod coverage;
-pub mod probability_grid;
-pub mod pheromone;
-pub mod patterns;
-
-pub use rrt_apf::{RrtApfPlanner, Waypoint};
-pub use coverage::{CoverageStrategy, Phase};
-pub use probability_grid::ProbabilityGrid;
-pub use patterns::{FlightPattern, PatternContext};

v2/crates/ruview-swarm/src/planning/patterns.rs

@@ -1,428 +0,0 @@
-//! Flight / coverage-optimization patterns for swarm area search.
-//!
-//! Different strategies trade off coverage completeness, time, and robustness:
-//! - Boustrophedon: systematic lawnmower; complete but drones overlap if unpartitioned
-//! - PartitionedLawnmower: area split into per-drone strips → no overlap, ~Nx faster coverage
-//! - Spiral: outward spiral from a seed; good for centred search (last-known-position SAR)
-//! - Pheromone: stigmergic — steer away from recently-visited cells; robust to dropout
-//! - PotentialField: repelled by visited cells + peers, attracted to unscanned frontier
-//! - LevyFlight: heavy-tailed random walk; good exploration when target location unknown
-
-use crate::types::{NodeId, Position3D};
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Default)]
-pub enum FlightPattern {
-    Boustrophedon,
-    #[default]
-    PartitionedLawnmower,
-    Spiral,
-    Pheromone,
-    PotentialField,
-    LevyFlight,
-}
-
-impl FlightPattern {
-    // Intentional inherent infallible parser (returns Self, not Result); shipped API.
-    #[allow(clippy::should_implement_trait)]
-    pub fn from_str(s: &str) -> Self {
-        match s.to_lowercase().as_str() {
-            "boustrophedon" | "lawnmower" => FlightPattern::Boustrophedon,
-            "partitioned" | "partitioned_lawnmower" => FlightPattern::PartitionedLawnmower,
-            "spiral" => FlightPattern::Spiral,
-            "pheromone" | "stigmergic" => FlightPattern::Pheromone,
-            "potential" | "potential_field" => FlightPattern::PotentialField,
-            "levy" | "levyflight" | "levy_flight" => FlightPattern::LevyFlight,
-            _ => FlightPattern::default(),
-        }
-    }
-
-    pub fn name(&self) -> &'static str {
-        match self {
-            FlightPattern::Boustrophedon => "boustrophedon",
-            FlightPattern::PartitionedLawnmower => "partitioned_lawnmower",
-            FlightPattern::Spiral => "spiral",
-            FlightPattern::Pheromone => "pheromone",
-            FlightPattern::PotentialField => "potential_field",
-            FlightPattern::LevyFlight => "levy_flight",
-        }
-    }
-
-    /// All pattern variants, for enumeration / UI selection.
-    pub fn all() -> [FlightPattern; 6] {
-        [
-            FlightPattern::Boustrophedon,
-            FlightPattern::PartitionedLawnmower,
-            FlightPattern::Spiral,
-            FlightPattern::Pheromone,
-            FlightPattern::PotentialField,
-            FlightPattern::LevyFlight,
-        ]
-    }
-}
-
-/// Inputs for computing the next waypoint under a pattern.
-pub struct PatternContext<'a> {
-    pub drone_id: NodeId,
-    pub swarm_size: usize,
-    pub current: Position3D,
-    pub area_w: f64,
-    pub area_h: f64,
-    pub altitude_z: f64,      // flight z (negative NED)
-    pub scan_width_m: f64,    // strip spacing
-    pub step: u64,            // tick counter (for deterministic pseudo-random patterns)
-    pub visited: &'a [Position3D], // recently visited cell centres (for pheromone/potential)
-    pub peers: &'a [Position3D],   // peer positions (for potential-field repulsion)
-}
-
-impl FlightPattern {
-    /// Compute the next target position for a drone under this pattern.
-    pub fn next_target(&self, ctx: &PatternContext) -> Position3D {
-        match self {
-            FlightPattern::Boustrophedon => boustrophedon(ctx),
-            FlightPattern::PartitionedLawnmower => partitioned_lawnmower(ctx),
-            FlightPattern::Spiral => spiral(ctx),
-            FlightPattern::Pheromone => pheromone(ctx),
-            FlightPattern::PotentialField => potential_field(ctx),
-            FlightPattern::LevyFlight => levy_flight(ctx),
-        }
-    }
-}
-
-/// Clamp a candidate (x, y) to the area bounds and lift it to the flight altitude.
-fn clamp_to_area(x: f64, y: f64, ctx: &PatternContext) -> Position3D {
-    Position3D {
-        x: x.clamp(0.0, ctx.area_w),
-        y: y.clamp(0.0, ctx.area_h),
-        z: ctx.altitude_z,
-    }
-}
-
-/// Serpentine waypoint within a rectangular sub-region.
-///
-/// Walks rows of height `scan_width_m`; on each row sweeps left→right or
-/// right→left depending on the row parity, advancing one `scan_width_m`
-/// segment per `step`.
-fn serpentine_in_region(
-    x0: f64,
-    x1: f64,
-    y0: f64,
-    y1: f64,
-    scan_width_m: f64,
-    step: u64,
-) -> (f64, f64) {
-    let strip_w = (x1 - x0).max(scan_width_m);
-    let height = (y1 - y0).max(scan_width_m);
-
-    // Number of horizontal segments per row before stepping to the next row.
-    let cols = ((strip_w / scan_width_m).ceil() as u64).max(1);
-    // Number of rows in this region.
-    let rows = ((height / scan_width_m).ceil() as u64).max(1);
-    let total = cols * rows;
-    let s = step % total;
-
-    let row = s / cols;
-    let col = s % cols;
-
-    // Centre of the current row band.
-    let y = y0 + (row as f64 + 0.5) * scan_width_m;
-    let y = y.min(y1);
-
-    // Serpentine: even rows L→R, odd rows R→L.
-    let along = if row.is_multiple_of(2) { col } else { cols - 1 - col };
-    let x = x0 + (along as f64 + 0.5) * scan_width_m;
-    let x = x.min(x1);
-
-    (x, y)
-}
-
-/// Classic full-area serpentine lawnmower (drones may overlap — baseline).
-fn boustrophedon(ctx: &PatternContext) -> Position3D {
-    let (x, y) = serpentine_in_region(
-        0.0,
-        ctx.area_w,
-        0.0,
-        ctx.area_h,
-        ctx.scan_width_m,
-        ctx.step,
-    );
-    clamp_to_area(x, y, ctx)
-}
-
-/// Partitioned lawnmower: split `area_w` into `swarm_size` vertical strips;
-/// drone `i` lawnmowers ONLY within strip `[i*w/n, (i+1)*w/n]`.
-///
-/// This is the clustering fix: each drone covers a disjoint band, so total
-/// coverage scales ~linearly with swarm size instead of all drones tracing
-/// the same path.
-fn partitioned_lawnmower(ctx: &PatternContext) -> Position3D {
-    let n = ctx.swarm_size.max(1);
-    let i = (ctx.drone_id.0 as usize) % n;
-    let strip_w = ctx.area_w / n as f64;
-    let x0 = i as f64 * strip_w;
-    let x1 = x0 + strip_w;
-
-    let (x, y) =
-        serpentine_in_region(x0, x1, 0.0, ctx.area_h, ctx.scan_width_m, ctx.step);
-    clamp_to_area(x, y, ctx)
-}
-
-/// Outward Archimedean spiral from the area centre; radius grows with step.
-fn spiral(ctx: &PatternContext) -> Position3D {
-    let cx = ctx.area_w / 2.0;
-    let cy = ctx.area_h / 2.0;
-
-    // Angular step keeps successive waypoints roughly `scan_width_m` apart.
-    let theta = ctx.step as f64 * 0.6;
-    // Archimedean spiral r = b * theta; b chosen so each turn adds scan_width_m.
-    let b = ctx.scan_width_m / (2.0 * std::f64::consts::PI);
-    let r = b * theta;
-
-    let x = cx + r * theta.cos();
-    let y = cy + r * theta.sin();
-    clamp_to_area(x, y, ctx)
-}
-
-/// Stigmergic: sample candidate headings, step toward the least-visited one.
-fn pheromone(ctx: &PatternContext) -> Position3D {
-    let step_len = ctx.scan_width_m.max(1.0);
-    // Deterministic base heading offset per drone so they diverge.
-    let base = ctx.drone_id.0 as f64 * (std::f64::consts::PI / 3.0);
-
-    let n_candidates = 8;
-    let mut best: Option<(f64, f64, f64)> = None; // (score, x, y); lower score = less visited
-    for k in 0..n_candidates {
-        let theta = base + (k as f64) * (2.0 * std::f64::consts::PI / n_candidates as f64);
-        let cx = ctx.current.x + step_len * theta.cos();
-        let cy = ctx.current.y + step_len * theta.sin();
-        let cx = cx.clamp(0.0, ctx.area_w);
-        let cy = cy.clamp(0.0, ctx.area_h);
-
-        // Penalty = sum of inverse-distance to recently-visited cell centres.
-        let mut visit_pressure = 0.0;
-        for v in ctx.visited {
-            let d = (cx - v.x).hypot(cy - v.y);
-            visit_pressure += 1.0 / (1.0 + d);
-        }
-        if best.as_ref().is_none_or(|(bs, _, _)| visit_pressure < *bs) {
-            best = Some((visit_pressure, cx, cy));
-        }
-    }
-
-    let (_, x, y) = best.unwrap_or((0.0, ctx.current.x, ctx.current.y));
-    clamp_to_area(x, y, ctx)
-}
-
-/// Potential field: repelled by visited cells + peers, attracted to the
-/// nearest unscanned frontier; step in the resultant direction.
-fn potential_field(ctx: &PatternContext) -> Position3D {
-    let mut fx = 0.0;
-    let mut fy = 0.0;
-
-    // Repulsion from recently-visited cells.
-    for v in ctx.visited {
-        let dx = ctx.current.x - v.x;
-        let dy = ctx.current.y - v.y;
-        let d2 = dx * dx + dy * dy + 1.0;
-        let mag = 1.0 / d2;
-        fx += dx / d2.sqrt() * mag;
-        fy += dy / d2.sqrt() * mag;
-    }
-
-    // Repulsion from peers (collision / overlap avoidance).
-    for p in ctx.peers {
-        let dx = ctx.current.x - p.x;
-        let dy = ctx.current.y - p.y;
-        let d2 = dx * dx + dy * dy + 1.0;
-        let mag = 2.0 / d2; // peers repel more strongly than stale trail
-        fx += dx / d2.sqrt() * mag;
-        fy += dy / d2.sqrt() * mag;
-    }
-
-    // Attraction toward the nearest unscanned frontier point. Sample a grid of
-    // candidate area points; pick the one with greatest distance to any visited
-    // cell (i.e. the least-explored region) and pull toward it.
-    let mut frontier: Option<(f64, f64, f64)> = None; // (openness, x, y)
-    let samples = 5;
-    for ix in 0..=samples {
-        for iy in 0..=samples {
-            let px = ctx.area_w * ix as f64 / samples as f64;
-            let py = ctx.area_h * iy as f64 / samples as f64;
-            let mut nearest = f64::INFINITY;
-            for v in ctx.visited {
-                let d = (px - v.x).hypot(py - v.y);
-                if d < nearest {
-                    nearest = d;
-                }
-            }
-            if !nearest.is_finite() {
-                nearest = (px - ctx.current.x).hypot(py - ctx.current.y);
-            }
-            if frontier.as_ref().is_none_or(|(o, _, _)| nearest > *o) {
-                frontier = Some((nearest, px, py));
-            }
-        }
-    }
-    if let Some((_, gx, gy)) = frontier {
-        let dx = gx - ctx.current.x;
-        let dy = gy - ctx.current.y;
-        let d = (dx * dx + dy * dy).sqrt().max(1e-6);
-        fx += dx / d * 1.5; // attraction gain
-        fy += dy / d * 1.5;
-    }
-
-    let fmag = (fx * fx + fy * fy).sqrt();
-    let step_len = ctx.scan_width_m.max(1.0);
-    let (x, y) = if fmag > 1e-9 {
-        (
-            ctx.current.x + fx / fmag * step_len,
-            ctx.current.y + fy / fmag * step_len,
-        )
-    } else {
-        (ctx.current.x, ctx.current.y)
-    };
-    clamp_to_area(x, y, ctx)
-}
-
-/// Deterministic pseudo-random heavy-tailed step (Lévy flight). Most steps are
-/// short; occasional long jumps. Seeded from drone_id + step via an LCG so the
-/// trajectory is reproducible.
-fn levy_flight(ctx: &PatternContext) -> Position3D {
-    // Linear congruential generator (Numerical Recipes constants).
-    let seed = (ctx.drone_id.0 as u64)
-        .wrapping_mul(0x9E37_79B9_7F4A_7C15)
-        .wrapping_add(ctx.step.wrapping_mul(0x2545_F491_4F6C_DD1D));
-    let r1 = lcg(seed);
-    let r2 = lcg(r1);
-
-    let u_angle = (r1 >> 11) as f64 / (1u64 << 53) as f64; // [0,1)
-    let u_len = ((r2 >> 11) as f64 / (1u64 << 53) as f64).max(1e-6); // (0,1]
-
-    let theta = u_angle * 2.0 * std::f64::consts::PI;
-    // Heavy-tailed step length: inverse power-law (Pareto-like), exponent ~1.5.
-    let step_len = ctx.scan_width_m.max(1.0) * u_len.powf(-1.0 / 1.5);
-    // Cap to the area diagonal so a single jump can't shoot arbitrarily far.
-    let max_jump = (ctx.area_w * ctx.area_w + ctx.area_h * ctx.area_h).sqrt();
-    let step_len = step_len.min(max_jump);
-
-    let x = ctx.current.x + step_len * theta.cos();
-    let y = ctx.current.y + step_len * theta.sin();
-    clamp_to_area(x, y, ctx)
-}
-
-#[inline]
-fn lcg(state: u64) -> u64 {
-    state
-        .wrapping_mul(6364136223846793005)
-        .wrapping_add(1442695040888963407)
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn ctx<'a>(
-        drone_id: u32,
-        swarm_size: usize,
-        step: u64,
-        current: Position3D,
-        visited: &'a [Position3D],
-        peers: &'a [Position3D],
-    ) -> PatternContext<'a> {
-        PatternContext {
-            drone_id: NodeId(drone_id),
-            swarm_size,
-            current,
-            area_w: 100.0,
-            area_h: 80.0,
-            altitude_z: -20.0,
-            scan_width_m: 5.0,
-            step,
-            visited,
-            peers,
-        }
-    }
-
-    #[test]
-    fn test_partitioned_strips_disjoint() {
-        let empty: [Position3D; 0] = [];
-        // Two drones, swarm of 2: drone 0 owns left half, drone 1 the right half.
-        let mut d0_xs = Vec::new();
-        let mut d1_xs = Vec::new();
-        for s in 0..40u64 {
-            let c0 = ctx(0, 2, s, Position3D::zero(), &empty, &empty);
-            let c1 = ctx(1, 2, s, Position3D::zero(), &empty, &empty);
-            d0_xs.push(FlightPattern::PartitionedLawnmower.next_target(&c0).x);
-            d1_xs.push(FlightPattern::PartitionedLawnmower.next_target(&c1).x);
-        }
-        let mid = 100.0 / 2.0;
-        // Drone 0 stays strictly in the left half, drone 1 strictly in the right.
-        assert!(d0_xs.iter().all(|&x| x <= mid), "drone 0 left of midline");
-        assert!(d1_xs.iter().all(|&x| x >= mid), "drone 1 right of midline");
-        // And they never share an x position (disjoint strips → no overlap).
-        for &a in &d0_xs {
-            for &b in &d1_xs {
-                assert!(a < b || (a <= mid && b >= mid), "strips overlap: {a} vs {b}");
-            }
-        }
-    }
-
-    #[test]
-    fn test_all_patterns_in_bounds() {
-        let visited = [
-            Position3D { x: 10.0, y: 10.0, z: -20.0 },
-            Position3D { x: 50.0, y: 40.0, z: -20.0 },
-        ];
-        let peers = [Position3D { x: 30.0, y: 20.0, z: -20.0 }];
-        for pat in FlightPattern::all() {
-            let mut current = Position3D { x: 25.0, y: 25.0, z: -20.0 };
-            for s in 0..20u64 {
-                let c = ctx(1, 4, s, current, &visited, &peers);
-                let t = pat.next_target(&c);
-                assert!(
-                    t.x >= 0.0 && t.x <= 100.0,
-                    "{} x out of bounds at step {s}: {}",
-                    pat.name(),
-                    t.x
-                );
-                assert!(
-                    t.y >= 0.0 && t.y <= 80.0,
-                    "{} y out of bounds at step {s}: {}",
-                    pat.name(),
-                    t.y
-                );
-                assert_eq!(t.z, -20.0, "{} altitude wrong", pat.name());
-                current = t;
-            }
-        }
-    }
-
-    #[test]
-    fn test_pattern_from_str_roundtrip() {
-        for pat in FlightPattern::all() {
-            assert_eq!(
-                FlightPattern::from_str(pat.name()),
-                pat,
-                "roundtrip failed for {}",
-                pat.name()
-            );
-        }
-    }
-
-    #[test]
-    fn test_spiral_radius_grows() {
-        let empty: [Position3D; 0] = [];
-        let centre_x = 100.0 / 2.0;
-        let centre_y = 80.0 / 2.0;
-        let dist = |s: u64| {
-            let c = ctx(0, 1, s, Position3D::zero(), &empty, &empty);
-            let t = FlightPattern::Spiral.next_target(&c);
-            ((t.x - centre_x).powi(2) + (t.y - centre_y).powi(2)).sqrt()
-        };
-        let near = dist(1);
-        let far = dist(50);
-        assert!(
-            far > near,
-            "spiral radius should grow: step1={near}, step50={far}"
-        );
-    }
-}

v2/crates/ruview-swarm/src/planning/pheromone.rs

@@ -1,22 +0,0 @@
-//! Stigmergic pheromone evaporation for coverage tracking.
-
-use crate::types::GridCell;
-
-/// Evaporate pheromones across all cells.
-/// `rate`: fraction decayed per tick (e.g. 0.01 = 1% per tick).
-pub fn evaporate(cells: &mut [Vec<GridCell>], rate: f32) {
-    for row in cells.iter_mut() {
-        for cell in row.iter_mut() {
-            cell.pheromone = (cell.pheromone * (1.0 - rate)).max(0.0);
-        }
-    }
-}
-
-/// Deposit pheromone at a cell (clamp to 1.0).
-pub fn deposit(cells: &mut [Vec<GridCell>], x: u32, y: u32, amount: f32) {
-    if let Some(row) = cells.get_mut(y as usize) {
-        if let Some(cell) = row.get_mut(x as usize) {
-            cell.pheromone = (cell.pheromone + amount).min(1.0);
-        }
-    }
-}

v2/crates/ruview-swarm/src/planning/probability_grid.rs

@@ -1,153 +0,0 @@
-//! Bayesian probability grid for victim localization.
-
-use crate::types::GridCell;
-
-/// 2-D grid tracking posterior victim probability per cell.
-pub struct ProbabilityGrid {
-    pub cells: Vec<Vec<GridCell>>,
-    pub cell_size_m: f64,
-    pub width: u32,
-    pub height: u32,
-}
-
-impl ProbabilityGrid {
-    pub fn new(width: u32, height: u32, cell_size_m: f64) -> Self {
-        let cells = (0..height)
-            .map(|y| {
-                (0..width)
-                    .map(|x| GridCell {
-                        x_idx: x,
-                        y_idx: y,
-                        victim_probability: 0.5, // uninformative prior
-                        pheromone: 0.0,
-                        last_scanned_ms: 0,
-                    })
-                    .collect()
-            })
-            .collect();
-        Self { cells, cell_size_m, width, height }
-    }
-
-    /// Bayesian update: P(victim | detection) or P(victim | no detection).
-    pub fn update_bayesian(&mut self, cell: (u32, u32), confidence: f32, detected: bool) {
-        let (cx, cy) = cell;
-        if cx >= self.width || cy >= self.height {
-            return;
-        }
-        let c = &mut self.cells[cy as usize][cx as usize];
-        let prior = c.victim_probability as f64;
-        // Likelihood ratio update
-        let likelihood = if detected {
-            confidence as f64
-        } else {
-            1.0 - confidence as f64
-        };
-        let denom = likelihood * prior + (1.0 - likelihood) * (1.0 - prior);
-        c.victim_probability = if denom > 1e-9 {
-            (likelihood * prior / denom) as f32
-        } else {
-            prior as f32
-        };
-        c.pheromone = (c.pheromone + 0.1).min(1.0);
-    }
-
-    /// Returns the cell (x, y) with highest expected value: P * (1 - scanned_weight).
-    pub fn highest_priority_unscanned(&self) -> Option<(u32, u32)> {
-        let now_approx: u64 = 0; // caller should pass current time; use 0 for simplicity
-        let _ = now_approx;
-        let mut best: Option<((u32, u32), f32)> = None;
-        for row in &self.cells {
-            for cell in row {
-                let scanned_weight = if cell.last_scanned_ms > 0 { cell.pheromone } else { 0.0 };
-                let score = cell.victim_probability * (1.0 - scanned_weight);
-                if best.as_ref().is_none_or(|(_, bs)| score > *bs) {
-                    best = Some(((cell.x_idx, cell.y_idx), score));
-                }
-            }
-        }
-        best.map(|(pos, _)| pos)
-    }
-
-    /// Mark a cell as scanned. Returns true if this is the first scan of this cell.
-    pub fn mark_scanned(&mut self, cell: (u32, u32)) -> bool {
-        let (cx, cy) = cell;
-        if cx >= self.width || cy >= self.height {
-            return false;
-        }
-        let c = &mut self.cells[cy as usize][cx as usize];
-        if c.last_scanned_ms == 0 {
-            c.last_scanned_ms = 1; // mark as visited
-            true
-        } else {
-            false
-        }
-    }
-
-    /// Fraction of cells that have been scanned at least once.
-    pub fn coverage_pct(&self) -> f64 {
-        let total: usize = self.cells.iter().flatten().count();
-        let scanned: usize = self.cells.iter().flatten().filter(|c| c.last_scanned_ms > 0).count();
-        if total == 0 { 1.0 } else { scanned as f64 / total as f64 }
-    }
-
-    /// Return the next cell for systematic boustrophedon sweep (row-by-row, unscanned first).
-    pub fn next_systematic_cell(&self, _state: &crate::types::DroneState) -> Option<(u32, u32)> {
-        // Walk rows in order; within each row alternate direction based on row parity.
-        for yi in 0..self.height {
-            let x_iter: Box<dyn Iterator<Item = u32>> = if yi % 2 == 0 {
-                Box::new(0..self.width)
-            } else {
-                Box::new((0..self.width).rev())
-            };
-            for xi in x_iter {
-                if self.cells[yi as usize][xi as usize].last_scanned_ms == 0 {
-                    return Some((xi, yi));
-                }
-            }
-        }
-        None
-    }
-
-    /// Merge another grid's probabilities using weighted average.
-    pub fn apply_gossip_update(&mut self, remote: &ProbabilityGrid) {
-        let h = self.height.min(remote.height) as usize;
-        let w = self.width.min(remote.width) as usize;
-        for y in 0..h {
-            for x in 0..w {
-                let local = &mut self.cells[y][x];
-                let r = remote.cells[y][x].victim_probability;
-                local.victim_probability = (local.victim_probability + r) / 2.0;
-            }
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_bayesian_update_increases_probability() {
-        let mut grid = ProbabilityGrid::new(10, 10, 2.0);
-        grid.update_bayesian((5, 5), 0.9, true);
-        assert!(grid.cells[5][5].victim_probability > 0.5);
-    }
-
-    #[test]
-    fn test_bayesian_update_decreases_probability() {
-        let mut grid = ProbabilityGrid::new(10, 10, 2.0);
-        grid.update_bayesian((5, 5), 0.9, false);
-        assert!(grid.cells[5][5].victim_probability < 0.5);
-    }
-
-    #[test]
-    fn test_highest_priority_returns_cell() {
-        let mut grid = ProbabilityGrid::new(5, 5, 2.0);
-        // Boost one cell
-        grid.cells[2][3].victim_probability = 0.99;
-        grid.cells[2][3].pheromone = 0.0;
-        let best = grid.highest_priority_unscanned();
-        assert!(best.is_some());
-        assert_eq!(best.unwrap(), (3, 2));
-    }
-}

v2/crates/ruview-swarm/src/planning/rrt_apf.rs

@@ -1,177 +0,0 @@
-//! RRT-APF hybrid path planner: Rapidly-exploring Random Trees with
-//! Artificial Potential Field obstacle repulsion.
-
-use crate::types::Position3D;
-use rand::Rng;
-
-/// A planned waypoint with an associated target speed.
-#[derive(Debug, Clone)]
-pub struct Waypoint {
-    pub position: Position3D,
-    pub speed_ms: f64,
-}
-
-/// RRT-APF path planner.
-pub struct RrtApfPlanner {
-    pub obstacle_cells: Vec<Position3D>,
-    pub apf_repulsion_dist: f64,
-    pub step_size_m: f64,
-}
-
-impl RrtApfPlanner {
-    pub fn new(apf_repulsion_dist: f64) -> Self {
-        Self {
-            obstacle_cells: Vec::new(),
-            apf_repulsion_dist,
-            step_size_m: 2.0,
-        }
-    }
-
-    /// Compute the APF repulsion gradient at `pos` from all nearby obstacles.
-    pub fn apf_force(&self, pos: &Position3D, neighbors: &[Position3D]) -> (f64, f64, f64) {
-        let mut fx = 0.0_f64;
-        let mut fy = 0.0_f64;
-        let mut fz = 0.0_f64;
-        for obs in self.obstacle_cells.iter().chain(neighbors.iter()) {
-            let dist = pos.distance_to(obs);
-            if dist < self.apf_repulsion_dist && dist > 1e-6 {
-                let strength = (self.apf_repulsion_dist - dist) / (dist * dist);
-                fx += strength * (pos.x - obs.x);
-                fy += strength * (pos.y - obs.y);
-                fz += strength * (pos.z - obs.z);
-            }
-        }
-        (fx, fy, fz)
-    }
-
-    /// Plan a path from `start` to `goal` using RRT* with APF bias.
-    pub fn plan(
-        &self,
-        start: Position3D,
-        goal: Position3D,
-        max_iter: usize,
-        rng: &mut impl Rng,
-    ) -> Vec<Waypoint> {
-        let mut tree: Vec<(Position3D, usize)> = vec![(start, 0)];
-        let goal_dist_thresh = self.step_size_m * 1.5;
-
-        for _ in 0..max_iter {
-            // Sample random point (bias 10% toward goal)
-            let sample = if rng.gen::<f64>() < 0.1 {
-                goal
-            } else {
-                let range = 200.0_f64;
-                Position3D {
-                    x: start.x + (rng.gen::<f64>() - 0.5) * range,
-                    y: start.y + (rng.gen::<f64>() - 0.5) * range,
-                    z: start.z,
-                }
-            };
-
-            // Find nearest node in tree
-            let (nearest_idx, nearest_pos) = tree
-                .iter()
-                .enumerate()
-                .min_by(|(_, (a, _)), (_, (b, _))| {
-                    a.distance_to(&sample)
-                        .partial_cmp(&b.distance_to(&sample))
-                        .unwrap_or(std::cmp::Ordering::Equal)
-                })
-                .map(|(i, (p, _))| (i, *p))
-                .unwrap_or((0, start));
-
-            // Step toward sample, then apply APF
-            let dist_to_sample = nearest_pos.distance_to(&sample);
-            if dist_to_sample < 1e-9 {
-                continue;
-            }
-            let scale = self.step_size_m / dist_to_sample;
-            let mut new_pos = Position3D {
-                x: nearest_pos.x + (sample.x - nearest_pos.x) * scale,
-                y: nearest_pos.y + (sample.y - nearest_pos.y) * scale,
-                z: nearest_pos.z + (sample.z - nearest_pos.z) * scale,
-            };
-
-            // Apply APF correction
-            let (fx, fy, fz) = self.apf_force(&new_pos, &[]);
-            let apf_scale = 0.3;
-            new_pos.x += fx * apf_scale;
-            new_pos.y += fy * apf_scale;
-            new_pos.z += fz * apf_scale;
-
-            tree.push((new_pos, nearest_idx));
-
-            if new_pos.distance_to(&goal) <= goal_dist_thresh {
-                // Trace path back to root
-                let mut path = Vec::new();
-                let mut current_idx = tree.len() - 1;
-                while current_idx != 0 {
-                    let (pos, parent) = tree[current_idx];
-                    path.push(Waypoint { position: pos, speed_ms: 5.0 });
-                    current_idx = parent;
-                }
-                path.push(Waypoint { position: start, speed_ms: 5.0 });
-                path.reverse();
-                path.push(Waypoint { position: goal, speed_ms: 2.0 });
-                return path;
-            }
-        }
-
-        // Fallback: direct line
-        vec![
-            Waypoint { position: start, speed_ms: 5.0 },
-            Waypoint { position: goal, speed_ms: 5.0 },
-        ]
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_plan_returns_at_least_two_waypoints() {
-        let planner = RrtApfPlanner::new(3.0);
-        let start = Position3D { x: 0.0, y: 0.0, z: -30.0 };
-        let goal = Position3D { x: 50.0, y: 50.0, z: -30.0 };
-        let mut rng = rand::thread_rng();
-        let path = planner.plan(start, goal, 500, &mut rng);
-        assert!(path.len() >= 2);
-    }
-
-    #[test]
-    fn test_apf_force_pushes_away() {
-        let planner = RrtApfPlanner {
-            obstacle_cells: vec![Position3D { x: 1.0, y: 0.0, z: 0.0 }],
-            apf_repulsion_dist: 5.0,
-            step_size_m: 2.0,
-        };
-        let pos = Position3D { x: 0.0, y: 0.0, z: 0.0 };
-        let (fx, _, _) = planner.apf_force(&pos, &[]);
-        assert!(fx < 0.0); // pushed away from x=1 obstacle
-    }
-
-    #[test]
-    fn test_plan_reaches_goal() {
-        let planner = RrtApfPlanner::new(3.0);
-        let start = Position3D { x: 0.0, y: 0.0, z: -30.0 };
-        let goal  = Position3D { x: 50.0, y: 50.0, z: -30.0 };
-        let mut rng = rand::thread_rng();
-        let path = planner.plan(start, goal, 500, &mut rng);
-        let last = path.last().unwrap();
-        // The RRT either reaches goal directly or the fallback end is the goal itself.
-        assert!(last.position.distance_to(&goal) < 10.0, "path should end near goal");
-    }
-
-    #[test]
-    fn test_apf_repulsion_nonzero_near_obstacle() {
-        let planner = RrtApfPlanner {
-            obstacle_cells: vec![Position3D { x: 3.0, y: 0.0, z: 0.0 }],
-            apf_repulsion_dist: 5.0,
-            step_size_m: 2.0,
-        };
-        let pos = Position3D { x: 0.0, y: 0.0, z: 0.0 };
-        let (fx, _, _) = planner.apf_force(&pos, &[]);
-        assert!(fx < 0.0, "repulsion should push away from obstacle (negative x)");
-    }
-}

v2/crates/ruview-swarm/src/ruflo/backend.rs

@@ -1,69 +0,0 @@
-//! RufloBackend trait and shared types.
-use async_trait::async_trait;
-
-/// Error type for Ruflo backend operations.
-#[derive(Debug, thiserror::Error)]
-pub enum RufloError {
-    #[error("network error: {0}")]
-    Network(String),
-    #[error("tool error: {0}")]
-    Tool(String),
-    #[error("serialization error: {0}")]
-    Serialize(String),
-}
-
-/// A past mission retrieved from AgentDB memory.
-#[derive(Debug, Clone, serde::Deserialize, Default)]
-pub struct MissionMemoryEntry {
-    pub key: String,
-    pub value: String,  // JSON-encoded mission summary
-    pub score: f32,
-}
-
-/// A coordination pattern retrieved from AgentDB pattern store.
-#[derive(Debug, Clone, serde::Deserialize, Default)]
-pub struct PatternEntry {
-    pub pattern: String,
-    pub pattern_type: String,
-    pub confidence: f32,
-    pub score: f32,
-}
-
-/// Result of an AIDefence MAVLink message scan.
-#[derive(Debug, Clone)]
-pub struct MavlinkScanResult {
-    pub safe: bool,
-    pub threats: Vec<String>,
-}
-
-/// Core Ruflo capability trait.
-///
-/// Two implementations:
-/// - `HttpRufloBackend` (feature=ruflo): calls the claude-flow daemon at localhost:3000
-/// - `MockRufloBackend`: in-memory mock for testing (always available)
-#[async_trait]
-pub trait RufloBackend: Send + Sync {
-    // ── MissionMemory (claude-flow: memory_store / memory_search) ────
-    async fn store_mission(&self, key: &str, summary: &str, namespace: &str)
-        -> Result<(), RufloError>;
-    async fn search_missions(&self, query: &str, limit: usize, namespace: &str)
-        -> Result<Vec<MissionMemoryEntry>, RufloError>;
-
-    // ── PatternLearner (agentdb_pattern-store / agentdb_pattern-search) ─
-    async fn store_pattern(&self, pattern: &str, pattern_type: &str, confidence: f32)
-        -> Result<(), RufloError>;
-    async fn search_patterns(&self, query: &str, top_k: usize, min_confidence: f32)
-        -> Result<Vec<PatternEntry>, RufloError>;
-
-    // ── MavlinkDefence (aidefence_is_safe / aidefence_scan) ──────────
-    async fn mavlink_is_safe(&self, message_repr: &str) -> Result<bool, RufloError>;
-    async fn mavlink_scan(&self, message_repr: &str) -> Result<MavlinkScanResult, RufloError>;
-
-    // ── IntelligenceHooks (hooks_intelligence_trajectory-*) ──────────
-    async fn trajectory_start(&self, task: &str, agent: &str)
-        -> Result<String, RufloError>;   // returns trajectoryId
-    async fn trajectory_step(&self, trajectory_id: &str, action: &str, result: &str, quality: f32)
-        -> Result<(), RufloError>;
-    async fn trajectory_end(&self, trajectory_id: &str, success: bool, feedback: Option<&str>)
-        -> Result<(), RufloError>;
-}

v2/crates/ruview-swarm/src/ruflo/http_backend.rs

@@ -1,173 +0,0 @@
-//! HTTP backend that calls the claude-flow daemon via JSON-RPC 2.0.
-//! Default endpoint: http://localhost:3000/rpc
-//!
-//! Start the daemon with: npx @claude-flow/cli@latest daemon start
-
-use async_trait::async_trait;
-use std::sync::atomic::{AtomicU64, Ordering};
-use std::time::Duration;
-use super::backend::*;
-
-/// Per-request timeout applied to every JSON-RPC call.
-/// A dead or slow daemon must not stall swarm operation loops.
-const REQUEST_TIMEOUT: Duration = Duration::from_secs(5);
-
-pub struct HttpRufloBackend {
-    client:     reqwest::Client,
-    base_url:   String,
-    request_id: AtomicU64,
-}
-
-impl HttpRufloBackend {
-    pub fn new(base_url: &str) -> Self {
-        let client = reqwest::Client::builder()
-            .timeout(REQUEST_TIMEOUT)
-            .build()
-            .expect("failed to build reqwest client");
-        Self {
-            client,
-            base_url:   base_url.trim_end_matches('/').to_string(),
-            request_id: AtomicU64::new(1),
-        }
-    }
-
-    pub fn localhost() -> Self { Self::new("http://localhost:3000") }
-
-    async fn call_tool(
-        &self,
-        tool: &str,
-        args: serde_json::Value,
-    ) -> Result<serde_json::Value, RufloError> {
-        let id = self.request_id.fetch_add(1, Ordering::SeqCst);
-        let body = serde_json::json!({
-            "jsonrpc": "2.0",
-            "method": "tools/call",
-            "id": id,
-            "params": { "name": tool, "arguments": args }
-        });
-
-        let resp = self.client
-            .post(format!("{}/rpc", self.base_url))
-            .json(&body)
-            .send()
-            .await
-            .map_err(|e| RufloError::Network(e.to_string()))?;
-
-        let json: serde_json::Value = resp.json().await
-            .map_err(|e| RufloError::Serialize(e.to_string()))?;
-
-        if let Some(err) = json.get("error") {
-            return Err(RufloError::Tool(err.to_string()));
-        }
-
-        Ok(json["result"].clone())
-    }
-}
-
-#[async_trait]
-impl RufloBackend for HttpRufloBackend {
-    async fn store_mission(&self, key: &str, value: &str, namespace: &str)
-        -> Result<(), RufloError>
-    {
-        self.call_tool("memory_store", serde_json::json!({
-            "key": key, "value": value, "namespace": namespace
-        })).await?;
-        Ok(())
-    }
-
-    async fn search_missions(&self, query: &str, limit: usize, namespace: &str)
-        -> Result<Vec<MissionMemoryEntry>, RufloError>
-    {
-        let result = self.call_tool("memory_search", serde_json::json!({
-            "query": query, "namespace": namespace, "limit": limit
-        })).await?;
-        let entries: Vec<MissionMemoryEntry> = serde_json::from_value(result)
-            .unwrap_or_default();
-        Ok(entries)
-    }
-
-    async fn store_pattern(&self, pattern: &str, pattern_type: &str, confidence: f32)
-        -> Result<(), RufloError>
-    {
-        self.call_tool("agentdb_pattern-store", serde_json::json!({
-            "pattern": pattern, "type": pattern_type, "confidence": confidence
-        })).await?;
-        Ok(())
-    }
-
-    async fn search_patterns(&self, query: &str, top_k: usize, min_confidence: f32)
-        -> Result<Vec<PatternEntry>, RufloError>
-    {
-        let result = self.call_tool("agentdb_pattern-search", serde_json::json!({
-            "query": query, "topK": top_k, "minConfidence": min_confidence
-        })).await?;
-        let entries: Vec<PatternEntry> = serde_json::from_value(
-            result["results"].clone()
-        ).unwrap_or_default();
-        Ok(entries)
-    }
-
-    async fn mavlink_is_safe(&self, message_repr: &str) -> Result<bool, RufloError> {
-        let result = self.call_tool("aidefence_is_safe", serde_json::json!({
-            "input": message_repr
-        })).await?;
-        Ok(result["safe"].as_bool().unwrap_or(true))
-    }
-
-    async fn mavlink_scan(&self, message_repr: &str) -> Result<MavlinkScanResult, RufloError> {
-        let result = self.call_tool("aidefence_scan", serde_json::json!({
-            "input": message_repr, "quick": false
-        })).await?;
-        let safe = result["safe"].as_bool().unwrap_or(true);
-        let threats: Vec<String> = result["threats"]
-            .as_array()
-            .map(|a| a.iter().filter_map(|v| v["type"].as_str().map(String::from)).collect())
-            .unwrap_or_default();
-        Ok(MavlinkScanResult { safe, threats })
-    }
-
-    async fn trajectory_start(&self, task: &str, agent: &str)
-        -> Result<String, RufloError>
-    {
-        let result = self.call_tool("hooks_intelligence_trajectory-start", serde_json::json!({
-            "task": task, "agent": agent
-        })).await?;
-        Ok(result["trajectoryId"]
-            .as_str()
-            .unwrap_or("unknown-traj")
-            .to_string())
-    }
-
-    async fn trajectory_step(
-        &self,
-        trajectory_id: &str,
-        action: &str,
-        result_str: &str,
-        quality: f32,
-    ) -> Result<(), RufloError> {
-        self.call_tool("hooks_intelligence_trajectory-step", serde_json::json!({
-            "trajectoryId": trajectory_id,
-            "action": action,
-            "result": result_str,
-            "quality": quality
-        })).await?;
-        Ok(())
-    }
-
-    async fn trajectory_end(
-        &self,
-        trajectory_id: &str,
-        success: bool,
-        feedback: Option<&str>,
-    ) -> Result<(), RufloError> {
-        let mut args = serde_json::json!({
-            "trajectoryId": trajectory_id,
-            "success": success
-        });
-        if let Some(fb) = feedback {
-            args["feedback"] = fb.into();
-        }
-        self.call_tool("hooks_intelligence_trajectory-end", args).await?;
-        Ok(())
-    }
-}

v2/crates/ruview-swarm/src/ruflo/mission_summary.rs

@@ -1,125 +0,0 @@
-//! Serializable mission summary stored in AgentDB memory after each completed mission.
-use serde::{Deserialize, Serialize};
-use crate::orchestrator::MissionStats;
-
-/// Serializable summary of a completed mission stored in AgentDB.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct MissionSummary {
-    pub mission_profile:      String,
-    pub num_drones:           usize,
-    pub area_width_m:         f64,
-    pub area_height_m:        f64,
-    pub victims_total:        usize,
-    pub victims_confirmed:    u32,
-    pub cells_covered:        u32,
-    pub coverage_pct:         f64,
-    pub elapsed_secs:         f64,
-    pub collision_events:     u32,
-    pub localization_error_m: Option<f64>,
-}
-
-impl MissionSummary {
-    pub fn from_stats(
-        stats: &MissionStats,
-        profile: &str,
-        num_drones: usize,
-        area_width: f64,
-        area_height: f64,
-        victims_total: usize,
-        coverage_pct: f64,
-    ) -> Self {
-        Self {
-            mission_profile:      profile.to_string(),
-            num_drones,
-            area_width_m:         area_width,
-            area_height_m:        area_height,
-            victims_total,
-            victims_confirmed:    stats.victims_confirmed,
-            cells_covered:        stats.cells_covered,
-            coverage_pct,
-            elapsed_secs:         stats.elapsed_secs,
-            collision_events:     stats.collision_events,
-            localization_error_m: None,
-        }
-    }
-
-    /// Pattern description for AgentDB pattern-store — human-readable.
-    pub fn to_pattern_description(&self) -> String {
-        format!(
-            "{} mission: {} drones over {}x{}m, {} victims confirmed in {:.1}s, {:.0}% coverage, {} collisions",
-            self.mission_profile,
-            self.num_drones,
-            self.area_width_m as u32,
-            self.area_height_m as u32,
-            self.victims_confirmed,
-            self.elapsed_secs,
-            self.coverage_pct * 100.0,
-            self.collision_events,
-        )
-    }
-
-    /// Pattern type tag for AgentDB.
-    pub fn pattern_type(&self) -> &str {
-        match self.mission_profile.as_str() {
-            "sar"        => "sar-mission",
-            "inspection" => "inspection-mission",
-            "mine"       => "mine-mission",
-            _            => "swarm-mission",
-        }
-    }
-
-    /// Confidence score (0-1) for AgentDB based on mission outcomes.
-    pub fn pattern_confidence(&self) -> f32 {
-        let victim_score = if self.victims_total > 0 {
-            self.victims_confirmed as f32 / self.victims_total as f32
-        } else {
-            0.5
-        };
-        let coverage_score = self.coverage_pct as f32;
-        let collision_penalty = (self.collision_events as f32 * 0.1).min(0.5);
-        ((victim_score * 0.5 + coverage_score * 0.5) - collision_penalty).clamp(0.0, 1.0)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn make_stats(victims_confirmed: u32, cells_covered: u32, collision_events: u32) -> MissionStats {
-        MissionStats {
-            cells_covered,
-            victims_confirmed,
-            collision_events,
-            steps: 100,
-            elapsed_secs: 30.0,
-        }
-    }
-
-    #[test]
-    fn test_pattern_type_tags() {
-        let stats = make_stats(2, 80, 0);
-        let s = MissionSummary::from_stats(&stats, "sar", 4, 400.0, 400.0, 3, 0.85);
-        assert_eq!(s.pattern_type(), "sar-mission");
-
-        let s2 = MissionSummary::from_stats(&stats, "custom", 2, 200.0, 200.0, 0, 0.5);
-        assert_eq!(s2.pattern_type(), "swarm-mission");
-    }
-
-    #[test]
-    fn test_pattern_confidence_penalises_collisions() {
-        let no_collisions = make_stats(3, 80, 0);
-        let with_collisions = make_stats(3, 80, 4);
-        let s_good = MissionSummary::from_stats(&no_collisions, "sar", 4, 400.0, 400.0, 3, 0.9);
-        let s_bad  = MissionSummary::from_stats(&with_collisions, "sar", 4, 400.0, 400.0, 3, 0.9);
-        assert!(s_good.pattern_confidence() > s_bad.pattern_confidence());
-    }
-
-    #[test]
-    fn test_to_pattern_description_contains_profile() {
-        let stats = make_stats(1, 50, 0);
-        let s = MissionSummary::from_stats(&stats, "inspection", 2, 100.0, 100.0, 1, 0.75);
-        let desc = s.to_pattern_description();
-        assert!(desc.contains("inspection"), "description should include profile: {desc}");
-        assert!(desc.contains("2 drones"), "description should include drone count: {desc}");
-    }
-}

v2/crates/ruview-swarm/src/ruflo/mock_backend.rs

@@ -1,158 +0,0 @@
-//! In-memory mock RufloBackend for testing — no network, zero latency.
-use async_trait::async_trait;
-use std::sync::{Arc, Mutex};
-use super::backend::*;
-
-/// Configurable mock. All writes go to in-memory vecs; searches return stored items.
-pub struct MockRufloBackend {
-    pub missions:  Arc<Mutex<Vec<(String, String)>>>,       // (key, value)
-    pub patterns:  Arc<Mutex<Vec<(String, String, f32)>>>,  // (pattern, type, confidence)
-    pub scan_safe: bool,  // set false to simulate a detected threat
-    pub traj_ids:  Arc<Mutex<Vec<String>>>,
-}
-
-impl Default for MockRufloBackend {
-    fn default() -> Self {
-        Self {
-            missions:  Arc::new(Mutex::new(Vec::new())),
-            patterns:  Arc::new(Mutex::new(Vec::new())),
-            scan_safe: true,
-            traj_ids:  Arc::new(Mutex::new(Vec::new())),
-        }
-    }
-}
-
-impl MockRufloBackend {
-    pub fn new() -> Self { Self::default() }
-
-    /// Pre-load a past mission for search to return.
-    pub fn seed_mission(&self, key: &str, value: &str) {
-        self.missions.lock().unwrap().push((key.to_string(), value.to_string()));
-    }
-
-    /// Pre-load a pattern for search to return.
-    pub fn seed_pattern(&self, pattern: &str, ptype: &str, confidence: f32) {
-        self.patterns.lock().unwrap().push((pattern.to_string(), ptype.to_string(), confidence));
-    }
-
-    /// Configure the scanner to reject the next message.
-    pub fn reject_next(self) -> Self { Self { scan_safe: false, ..self } }
-}
-
-#[async_trait]
-impl RufloBackend for MockRufloBackend {
-    async fn store_mission(&self, key: &str, value: &str, _ns: &str) -> Result<(), RufloError> {
-        self.missions.lock().unwrap().push((key.to_string(), value.to_string()));
-        Ok(())
-    }
-
-    async fn search_missions(&self, query: &str, limit: usize, _ns: &str)
-        -> Result<Vec<MissionMemoryEntry>, RufloError>
-    {
-        let missions = self.missions.lock().unwrap();
-        Ok(missions.iter().take(limit).map(|(k, v)| MissionMemoryEntry {
-            key: k.clone(),
-            value: v.clone(),
-            score: if v.contains(query) { 0.9 } else { 0.5 },
-        }).collect())
-    }
-
-    async fn store_pattern(&self, pattern: &str, ptype: &str, confidence: f32)
-        -> Result<(), RufloError>
-    {
-        self.patterns.lock().unwrap().push((pattern.to_string(), ptype.to_string(), confidence));
-        Ok(())
-    }
-
-    async fn search_patterns(&self, _query: &str, top_k: usize, min_conf: f32)
-        -> Result<Vec<PatternEntry>, RufloError>
-    {
-        let patterns = self.patterns.lock().unwrap();
-        Ok(patterns.iter()
-            .filter(|(_, _, c)| *c >= min_conf)
-            .take(top_k)
-            .map(|(p, t, c)| PatternEntry {
-                pattern: p.clone(),
-                pattern_type: t.clone(),
-                confidence: *c,
-                score: *c,
-            })
-            .collect())
-    }
-
-    async fn mavlink_is_safe(&self, _msg: &str) -> Result<bool, RufloError> {
-        Ok(self.scan_safe)
-    }
-
-    async fn mavlink_scan(&self, _msg: &str) -> Result<MavlinkScanResult, RufloError> {
-        Ok(MavlinkScanResult {
-            safe: self.scan_safe,
-            threats: if self.scan_safe {
-                vec![]
-            } else {
-                vec!["suspicious_coordinates".into()]
-            },
-        })
-    }
-
-    async fn trajectory_start(&self, task: &str, _agent: &str)
-        -> Result<String, RufloError>
-    {
-        let id = format!("mock-traj-{}", task.len()); // deterministic for testing
-        self.traj_ids.lock().unwrap().push(id.clone());
-        Ok(id)
-    }
-
-    async fn trajectory_step(&self, _id: &str, _act: &str, _res: &str, _q: f32)
-        -> Result<(), RufloError> { Ok(()) }
-
-    async fn trajectory_end(&self, _id: &str, _ok: bool, _fb: Option<&str>)
-        -> Result<(), RufloError> { Ok(()) }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[tokio::test]
-    async fn test_mock_store_and_search_mission() {
-        let mock = MockRufloBackend::new();
-        mock.store_mission("m1", r#"{"victims":2}"#, "swarm-missions").await.unwrap();
-        let results = mock.search_missions("victims", 5, "swarm-missions").await.unwrap();
-        assert_eq!(results.len(), 1);
-        assert_eq!(results[0].key, "m1");
-        assert!(results[0].score > 0.5, "keyword match should score high");
-    }
-
-    #[tokio::test]
-    async fn test_mock_pattern_lifecycle() {
-        let mock = MockRufloBackend::new();
-        mock.store_pattern("approach from 3 angles when P > 0.7", "sar-trajectory", 0.9).await.unwrap();
-        let results = mock.search_patterns("SAR convergence", 5, 0.5).await.unwrap();
-        assert_eq!(results.len(), 1);
-        assert_eq!(results[0].confidence, 0.9);
-    }
-
-    #[tokio::test]
-    async fn test_mock_mavlink_defence_safe() {
-        let mock = MockRufloBackend::new();
-        assert!(mock.mavlink_is_safe(r#"{"drone_id":1,"confidence":0.8}"#).await.unwrap());
-    }
-
-    #[tokio::test]
-    async fn test_mock_mavlink_defence_rejected() {
-        let mock = MockRufloBackend { scan_safe: false, ..Default::default() };
-        let scan = mock.mavlink_scan("SUSPICIOUS MESSAGE").await.unwrap();
-        assert!(!scan.safe);
-        assert!(!scan.threats.is_empty());
-    }
-
-    #[tokio::test]
-    async fn test_mock_trajectory_lifecycle() {
-        let mock = MockRufloBackend::new();
-        let tid = mock.trajectory_start("SAR 400x400", "swarm-specialist").await.unwrap();
-        mock.trajectory_step(&tid, "scan (5,3)", "prob=0.6", 0.7).await.unwrap();
-        mock.trajectory_end(&tid, true, Some("victim found")).await.unwrap();
-        assert!(!mock.traj_ids.lock().unwrap().is_empty());
-    }
-}

v2/crates/ruview-swarm/src/ruflo/mod.rs

@@ -1,22 +0,0 @@
-//! Ruflo AI-agent capabilities integration.
-//!
-//! Integrates the claude-flow daemon's AgentDB, AIDefence, and SONA intelligence
-//! hooks into the ruview-swarm orchestrator via a trait-based backend.
-//!
-//! Feature gate: `ruflo`. The `RufloBackend` trait and `MockRufloBackend` are always
-//! compiled so tests can use them without enabling the `ruflo` feature. Only
-//! `HttpRufloBackend` (which requires `reqwest` + `serde_json`) is gated.
-
-pub mod backend;
-pub mod mock_backend;
-pub mod mission_summary;
-
-#[cfg(feature = "ruflo")]
-pub mod http_backend;
-
-pub use backend::{RufloBackend, RufloError, MissionMemoryEntry, PatternEntry, MavlinkScanResult};
-pub use mock_backend::MockRufloBackend;
-pub use mission_summary::MissionSummary;
-
-#[cfg(feature = "ruflo")]
-pub use http_backend::HttpRufloBackend;

v2/crates/ruview-swarm/src/security/antijamming.rs

@@ -1,208 +0,0 @@
-//! FHSS (Frequency Hopping Spread Spectrum) anti-jamming interface.
-//!
-//! Provides frequency hop sequence generation and cognitive radio-inspired
-//! adaptive frequency/power selection for drone swarm communication links.
-
-use serde::{Deserialize, Serialize};
-
-/// FHSS configuration for a swarm communication link.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct FhssConfig {
-    /// Hop rate in hops-per-second (typical: 100–200).
-    pub hop_rate_hz: f64,
-    /// Available frequency channels in MHz.
-    pub channels_mhz: Vec<f64>,
-    /// Minimum RSSI (dBm) before triggering channel switch.
-    pub rssi_threshold_dbm: f32,
-    /// Number of consecutive poor-RSSI samples before switching.
-    pub jamming_detect_window: usize,
-}
-
-impl Default for FhssConfig {
-    fn default() -> Self {
-        // 900 MHz ISM band: 902–928 MHz, 50 channels at 512 kHz spacing
-        let channels: Vec<f64> = (0..50).map(|i| 902.0 + i as f64 * 0.512).collect();
-        Self {
-            hop_rate_hz: 200.0,
-            channels_mhz: channels,
-            rssi_threshold_dbm: -85.0,
-            jamming_detect_window: 5,
-        }
-    }
-}
-
-/// State of the FHSS radio at one node.
-pub struct FhssRadio {
-    pub config: FhssConfig,
-    /// Current hop sequence position.
-    hop_index: usize,
-    /// Rolling RSSI history (most recent last).
-    rssi_history: Vec<f32>,
-    /// Elapsed time since last hop (ms).
-    elapsed_ms: f64,
-    /// Node ID seed for unique hop sequence (XOR with hop_index for non-collision).
-    node_seed: u32,
-    /// Number of jammer-evasion channel jumps taken.
-    pub evasion_count: u64,
-}
-
-impl FhssRadio {
-    pub fn new(node_seed: u32, config: FhssConfig) -> Self {
-        Self {
-            config,
-            hop_index: 0,
-            rssi_history: Vec::new(),
-            elapsed_ms: 0.0,
-            node_seed,
-            evasion_count: 0,
-        }
-    }
-
-    /// Returns the current active channel frequency in MHz.
-    ///
-    /// `FhssConfig` is `Deserialize`, so `channels_mhz` can arrive empty from a
-    /// malformed or hostile config. An empty channel list would make `% n`
-    /// (n = 0) panic with a divide-by-zero. Guard it and return a benign `0.0`
-    /// sentinel instead of crashing the radio task (DoS-resistance).
-    pub fn current_channel_mhz(&self) -> f64 {
-        let n = self.config.channels_mhz.len();
-        if n == 0 {
-            return 0.0;
-        }
-        // XOR node seed into hop index so each node uses a different offset
-        let idx = (self.hop_index ^ (self.node_seed as usize)) % n;
-        self.config.channels_mhz[idx]
-    }
-
-    /// Advance the hop sequence by one step (call at hop_rate_hz).
-    pub fn next_hop(&mut self) {
-        let n = self.config.channels_mhz.len();
-        if n == 0 {
-            return; // no channels configured — nothing to hop (avoid `% 0` panic)
-        }
-        self.hop_index = (self.hop_index + 1) % n;
-    }
-
-    /// Update with latest RSSI measurement. Drives jamming detection.
-    pub fn observe_rssi(&mut self, rssi_dbm: f32) {
-        self.rssi_history.push(rssi_dbm);
-        if self.rssi_history.len() > self.config.jamming_detect_window {
-            self.rssi_history.remove(0);
-        }
-    }
-
-    /// Returns true if jamming is detected (all recent RSSI samples below threshold).
-    pub fn jamming_detected(&self) -> bool {
-        if self.rssi_history.len() < self.config.jamming_detect_window {
-            return false;
-        }
-        self.rssi_history.iter().all(|&r| r < self.config.rssi_threshold_dbm)
-    }
-
-    /// Evasive hop: jump ahead by a pseudo-random offset to escape jammer.
-    /// Uses a simple LCG seeded by node_seed + evasion_count for determinism.
-    pub fn evasive_hop(&mut self) {
-        let lcg_a: u64 = 6364136223846793005;
-        let lcg_c: u64 = 1442695040888963407;
-        // Use wrapping arithmetic to avoid overflow in debug builds
-        let seed = (self.node_seed as u64)
-            .wrapping_mul(lcg_a)
-            .wrapping_add(self.evasion_count)
-            .wrapping_add(lcg_c);
-        let len = self.config.channels_mhz.len();
-        if len == 0 {
-            return; // no channels configured — avoid `% 0` panic
-        }
-        let n = len as u64;
-        let offset = (seed % n / 4 + 3) as usize;
-        self.hop_index = (self.hop_index + offset) % len;
-        self.evasion_count += 1;
-        self.rssi_history.clear();
-    }
-
-    /// Tick the radio by dt_ms milliseconds. Handles automatic hopping.
-    ///
-    /// Multiple hops may fire within a single tick if dt_ms > hop_interval_ms.
-    pub fn tick(&mut self, dt_ms: f64) {
-        self.elapsed_ms += dt_ms;
-        let hop_interval_ms = 1000.0 / self.config.hop_rate_hz;
-        while self.elapsed_ms >= hop_interval_ms {
-            self.elapsed_ms -= hop_interval_ms;
-            self.next_hop();
-        }
-        if self.jamming_detected() {
-            self.evasive_hop();
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_different_nodes_different_channels() {
-        let cfg = FhssConfig::default();
-        let r0 = FhssRadio::new(0, cfg.clone());
-        let r1 = FhssRadio::new(7, cfg);
-        // Nodes with different seeds should use different channels at hop 0
-        assert_ne!(r0.current_channel_mhz(), r1.current_channel_mhz(),
-            "different nodes should use different initial channels");
-    }
-
-    #[test]
-    fn test_jamming_detection() {
-        let cfg = FhssConfig { jamming_detect_window: 3, rssi_threshold_dbm: -85.0, ..Default::default() };
-        let mut radio = FhssRadio::new(0, cfg);
-        // Feed 3 below-threshold RSSI values
-        radio.observe_rssi(-90.0);
-        radio.observe_rssi(-92.0);
-        assert!(!radio.jamming_detected(), "need full window");
-        radio.observe_rssi(-91.0);
-        assert!(radio.jamming_detected());
-    }
-
-    #[test]
-    fn test_evasive_hop_changes_channel() {
-        let cfg = FhssConfig::default();
-        let mut radio = FhssRadio::new(42, cfg);
-        let before = radio.current_channel_mhz();
-        radio.evasive_hop();
-        let after = radio.current_channel_mhz();
-        assert_ne!(before, after, "evasive hop should change channel");
-    }
-
-    #[test]
-    fn test_tick_advances_hop() {
-        let cfg = FhssConfig { hop_rate_hz: 1000.0, ..Default::default() }; // 1 hop/ms
-        let mut radio = FhssRadio::new(0, cfg);
-        let initial_idx = radio.hop_index;
-        radio.tick(2.0); // 2 ms = 2 hops
-        assert_eq!(radio.hop_index, (initial_idx + 2) % 50);
-    }
-
-    /// Security/DoS: an empty `channels_mhz` (deserialized from a malformed or
-    /// hostile config) must not panic with a `% 0` divide-by-zero. Fails on old
-    /// code, where `next_hop`/`current_channel_mhz`/`evasive_hop`/`tick` all do
-    /// modulo / index by `channels_mhz.len()`.
-    #[test]
-    fn test_empty_channels_does_not_panic() {
-        let cfg = FhssConfig { channels_mhz: vec![], jamming_detect_window: 1, ..Default::default() };
-        let mut radio = FhssRadio::new(7, cfg);
-        // None of these may panic.
-        let _ = radio.current_channel_mhz();
-        radio.next_hop();
-        radio.observe_rssi(-99.0); // window=1 → jamming_detected() true → evasive_hop()
-        radio.tick(100.0);
-        radio.evasive_hop();
-        assert_eq!(radio.current_channel_mhz(), 0.0, "empty channel list returns sentinel");
-    }
-
-    #[test]
-    fn test_channel_in_valid_range() {
-        let cfg = FhssConfig::default();
-        let radio = FhssRadio::new(99, cfg.clone());
-        let ch = radio.current_channel_mhz();
-        assert!(ch >= 902.0 && ch <= 928.0, "channel {} out of ISM band", ch);
-    }
-}

v2/crates/ruview-swarm/src/security/geofence.rs

@@ -1,184 +0,0 @@
-//! Geofence: polygon boundary with hard/soft margins.
-
-use crate::types::Position3D;
-use serde::{Deserialize, Serialize};
-
-/// Polygon geofence with altitude bounds.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct Geofence {
-    /// Polygon vertices (x, y) in local NED metres.
-    pub boundary: Vec<(f64, f64)>,
-    pub min_altitude_m: f64,
-    pub max_altitude_m: f64,
-    /// Hard margin: triggers RTH immediately.
-    pub hard_margin_m: f64,
-    /// Soft margin: triggers warning + speed reduction.
-    pub soft_margin_m: f64,
-}
-
-/// Result of a geofence check.
-#[derive(Debug, Clone, PartialEq)]
-pub enum GeofenceResult {
-    Safe,
-    SoftWarning { distance_to_boundary_m: f64 },
-    HardBreach,
-}
-
-impl Geofence {
-    /// Check a position against this geofence.
-    pub fn check(&self, pos: &Position3D) -> GeofenceResult {
-        // Fail CLOSED on a non-finite position. A NaN/Inf component (from a
-        // corrupt GPS/EKF estimate or a forged position) makes every subsequent
-        // comparison false: `NaN < min || NaN > max` is `false`, so the altitude
-        // breach is skipped, and a NaN altitude with otherwise-valid x/y would
-        // return `Safe` — a silent geofence bypass on a flight-safety boundary.
-        // Treat any non-finite coordinate as a hard breach.
-        if !pos.x.is_finite() || !pos.y.is_finite() || !pos.z.is_finite() {
-            return GeofenceResult::HardBreach;
-        }
-
-        let altitude_m = -pos.z; // NED: negative z = altitude above ground
-
-        // Altitude check
-        if altitude_m < self.min_altitude_m || altitude_m > self.max_altitude_m {
-            return GeofenceResult::HardBreach;
-        }
-
-        let inside = self.point_in_polygon(pos.x, pos.y);
-        let dist = self.distance_to_boundary(pos.x, pos.y);
-
-        if !inside {
-            return GeofenceResult::HardBreach;
-        }
-
-        if dist <= self.hard_margin_m {
-            GeofenceResult::HardBreach
-        } else if dist <= self.soft_margin_m {
-            GeofenceResult::SoftWarning { distance_to_boundary_m: dist }
-        } else {
-            GeofenceResult::Safe
-        }
-    }
-
-    /// Ray-casting algorithm: even number of crossings = outside.
-    fn point_in_polygon(&self, x: f64, y: f64) -> bool {
-        let n = self.boundary.len();
-        if n < 3 {
-            return false;
-        }
-        let mut inside = false;
-        let mut j = n - 1;
-        for i in 0..n {
-            let (xi, yi) = self.boundary[i];
-            let (xj, yj) = self.boundary[j];
-            if ((yi > y) != (yj > y)) && (x < (xj - xi) * (y - yi) / (yj - yi) + xi) {
-                inside = !inside;
-            }
-            j = i;
-        }
-        inside
-    }
-
-    /// Minimum distance from (x, y) to any boundary edge.
-    fn distance_to_boundary(&self, x: f64, y: f64) -> f64 {
-        let n = self.boundary.len();
-        if n == 0 {
-            return f64::INFINITY;
-        }
-        let mut min_dist = f64::INFINITY;
-        let mut j = n - 1;
-        for i in 0..n {
-            let (ax, ay) = self.boundary[j];
-            let (bx, by) = self.boundary[i];
-            let dist = point_to_segment_dist(x, y, ax, ay, bx, by);
-            if dist < min_dist {
-                min_dist = dist;
-            }
-            j = i;
-        }
-        min_dist
-    }
-}
-
-fn point_to_segment_dist(px: f64, py: f64, ax: f64, ay: f64, bx: f64, by: f64) -> f64 {
-    let dx = bx - ax;
-    let dy = by - ay;
-    let len_sq = dx * dx + dy * dy;
-    if len_sq < 1e-12 {
-        return ((px - ax).powi(2) + (py - ay).powi(2)).sqrt();
-    }
-    let t = ((px - ax) * dx + (py - ay) * dy) / len_sq;
-    let t = t.clamp(0.0, 1.0);
-    let cx = ax + t * dx;
-    let cy = ay + t * dy;
-    ((px - cx).powi(2) + (py - cy).powi(2)).sqrt()
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    fn square_fence() -> Geofence {
-        Geofence {
-            boundary: vec![(0.0, 0.0), (100.0, 0.0), (100.0, 100.0), (0.0, 100.0)],
-            min_altitude_m: 0.0,
-            max_altitude_m: 120.0,
-            hard_margin_m: 10.0,
-            soft_margin_m: 25.0,
-        }
-    }
-
-    #[test]
-    fn test_centre_is_safe() {
-        let f = square_fence();
-        let pos = Position3D { x: 50.0, y: 50.0, z: -30.0 };
-        assert_eq!(f.check(&pos), GeofenceResult::Safe);
-    }
-
-    #[test]
-    fn test_outside_is_hard_breach() {
-        let f = square_fence();
-        let pos = Position3D { x: 150.0, y: 50.0, z: -30.0 };
-        assert_eq!(f.check(&pos), GeofenceResult::HardBreach);
-    }
-
-    #[test]
-    fn test_near_edge_is_soft_warning() {
-        let f = square_fence();
-        // 15m from boundary → beyond hard (10m) but within soft (25m)
-        let pos = Position3D { x: 15.0, y: 50.0, z: -30.0 };
-        assert!(matches!(f.check(&pos), GeofenceResult::SoftWarning { .. }));
-    }
-
-    #[test]
-    fn test_altitude_breach() {
-        let f = square_fence();
-        let pos = Position3D { x: 50.0, y: 50.0, z: -200.0 }; // 200m altitude
-        assert_eq!(f.check(&pos), GeofenceResult::HardBreach);
-    }
-
-    /// Security: a NaN altitude with an otherwise in-bounds x/y must fail closed
-    /// to HardBreach. Fails on old code where `NaN < min || NaN > max` is `false`,
-    /// the altitude check is skipped, and the point-in-polygon path returns Safe —
-    /// a silent geofence bypass.
-    #[test]
-    fn test_nan_altitude_fails_closed() {
-        let f = square_fence();
-        let pos = Position3D { x: 50.0, y: 50.0, z: f64::NAN };
-        assert_eq!(f.check(&pos), GeofenceResult::HardBreach);
-    }
-
-    /// Security: NaN/Inf horizontal coordinates must also fail closed.
-    #[test]
-    fn test_nonfinite_horizontal_fails_closed() {
-        let f = square_fence();
-        assert_eq!(
-            f.check(&Position3D { x: f64::NAN, y: 50.0, z: -30.0 }),
-            GeofenceResult::HardBreach
-        );
-        assert_eq!(
-            f.check(&Position3D { x: 50.0, y: f64::INFINITY, z: -30.0 }),
-            GeofenceResult::HardBreach
-        );
-    }
-}

v2/crates/ruview-swarm/src/security/mavlink_signing.rs

@@ -1,100 +0,0 @@
-//! MAVLink v2 HMAC-SHA256 link-level signing.
-
-use hmac::{Hmac, Mac};
-use sha2::Sha256;
-use std::sync::atomic::{AtomicU64, Ordering};
-
-type HmacSha256 = Hmac<Sha256>;
-
-/// Signs and verifies MAVLink v2 messages using HMAC-SHA256.
-pub struct MavlinkSigner {
-    key: [u8; 32],
-    link_id: u8,
-    timestamp: AtomicU64,
-}
-
-impl MavlinkSigner {
-    pub fn new(key: [u8; 32], link_id: u8) -> Self {
-        Self {
-            key,
-            link_id,
-            timestamp: AtomicU64::new(1),
-        }
-    }
-
-    /// Advance and return a monotonic 48-bit timestamp (units: 10 µs since epoch).
-    fn next_timestamp(&self) -> u64 {
-        self.timestamp.fetch_add(1, Ordering::SeqCst)
-    }
-
-    /// Compute the 6-byte MAVLink v2 signature.
-    /// Signature = first 6 bytes of HMAC-SHA256(key, link_id || timestamp_6bytes || message_bytes)
-    pub fn sign(&self, message_bytes: &[u8]) -> [u8; 6] {
-        let ts = self.next_timestamp();
-        let ts_bytes = ts.to_le_bytes(); // 8 bytes, MAVLink uses 6 but we include all for simplicity
-
-        let mut mac = HmacSha256::new_from_slice(&self.key)
-            .expect("HMAC accepts any key length");
-        mac.update(&[self.link_id]);
-        mac.update(&ts_bytes[..6]);
-        mac.update(message_bytes);
-
-        let result = mac.finalize().into_bytes();
-        let mut sig = [0u8; 6];
-        sig.copy_from_slice(&result[..6]);
-        sig
-    }
-
-    /// Verify that `signature` is valid for `message_bytes`.
-    /// This implementation re-computes against all recent timestamps within a
-    /// small window (for demo/test). Production code should maintain a timestamp
-    /// window per link_id.
-    pub fn verify(&self, message_bytes: &[u8], signature: &[u8; 6]) -> bool {
-        let current_ts = self.timestamp.load(Ordering::SeqCst);
-        // Check ±32 timestamps to handle reordering in tests
-        let start = current_ts.saturating_sub(32);
-        for ts in start..=current_ts + 1 {
-            let ts_bytes = ts.to_le_bytes();
-            let mut mac = HmacSha256::new_from_slice(&self.key)
-                .expect("HMAC accepts any key length");
-            mac.update(&[self.link_id]);
-            mac.update(&ts_bytes[..6]);
-            mac.update(message_bytes);
-            let result = mac.finalize().into_bytes();
-            if &result[..6] == signature.as_ref() {
-                return true;
-            }
-        }
-        false
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_sign_produces_6_bytes() {
-        let signer = MavlinkSigner::new([0xABu8; 32], 0);
-        let sig = signer.sign(b"heartbeat");
-        assert_eq!(sig.len(), 6);
-    }
-
-    #[test]
-    fn test_verify_correct_signature() {
-        let signer = MavlinkSigner::new([0x42u8; 32], 1);
-        let msg = b"test_message";
-        let sig = signer.sign(msg);
-        assert!(signer.verify(msg, &sig));
-    }
-
-    #[test]
-    fn test_verify_wrong_key_fails() {
-        let signer1 = MavlinkSigner::new([0x01u8; 32], 1);
-        let signer2 = MavlinkSigner::new([0x02u8; 32], 1);
-        let msg = b"test_message";
-        let sig = signer1.sign(msg);
-        // signer2 has a different key — can't verify signer1's sig
-        assert!(!signer2.verify(msg, &sig));
-    }
-}

v2/crates/ruview-swarm/src/security/mod.rs

@@ -1,13 +0,0 @@
-//! Security: MAVLink signing, UWB anti-spoofing, geofencing, Remote ID, FHSS anti-jamming.
-
-pub mod mavlink_signing;
-pub mod uwb_antispoofing;
-pub mod geofence;
-pub mod remote_id;
-pub mod antijamming;
-
-pub use mavlink_signing::MavlinkSigner;
-pub use uwb_antispoofing::UwbAntiSpoofing;
-pub use geofence::{Geofence, GeofenceResult};
-pub use remote_id::RemoteIdBroadcast;
-pub use antijamming::{FhssConfig, FhssRadio};

v2/crates/ruview-swarm/src/security/remote_id.rs

@@ -1,143 +0,0 @@
-//! ASTM F3411 Remote ID — **Basic ID message only** (ADR-159 §A3).
-//!
-//! Only the Basic ID message (`encode_basic_id`) is implemented. The
-//! Location/Vector message is **not** encoded yet because the drone position is
-//! tracked in a local NED frame (north/east metres relative to a takeoff datum),
-//! and a compliant Location/Vector message requires WGS84 latitude/longitude.
-//! Broadcasting NED metres in lat/lon fields would emit physically-impossible
-//! coordinates (e.g. "latitude = 12.4 metres"), so we deliberately keep the
-//! drone position in honest `drone_north_m` / `drone_east_m` fields until a real
-//! local-tangent-plane NED→WGS84 transform (with an operator datum) lands. See
-//! the `ACCEPTED-FUTURE` note in ADR-159 §A3.
-
-use crate::types::DroneState;
-use serde::{Deserialize, Serialize};
-
-/// Remote ID broadcast state for one drone.
-///
-/// Drone position is stored as **NED metres** (`drone_north_m` / `drone_east_m`)
-/// relative to the operator/takeoff datum — *not* WGS84 lat/lon — because no
-/// datum-anchored geodetic transform is wired yet. The operator position is true
-/// WGS84 (it comes from the operator's GNSS, not the local frame).
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct RemoteIdBroadcast {
-    pub uas_id: [u8; 20],        // 20-byte UAS ID (ANSI/CTA-2063-A)
-    /// Operator latitude (WGS84 degrees) — real geodetic position.
-    pub operator_lat: f64,
-    /// Operator longitude (WGS84 degrees) — real geodetic position.
-    pub operator_lon: f64,
-    /// Drone north offset in **metres** from the operator/takeoff datum (NED x).
-    /// NOT a latitude. See module docs — Location/Vector encoding is deferred
-    /// until a real NED→WGS84 transform exists.
-    pub drone_north_m: f64,
-    /// Drone east offset in **metres** from the operator/takeoff datum (NED y).
-    /// NOT a longitude.
-    pub drone_east_m: f64,
-    pub altitude_msl_m: f32,
-    pub speed_ms: f32,
-    pub heading_deg: f32,
-    pub timestamp_ms: u64,
-    pub emergency_status: bool,
-}
-
-impl RemoteIdBroadcast {
-    pub fn new(uas_id: [u8; 20]) -> Self {
-        Self {
-            uas_id,
-            operator_lat: 0.0,
-            operator_lon: 0.0,
-            drone_north_m: 0.0,
-            drone_east_m: 0.0,
-            altitude_msl_m: 0.0,
-            speed_ms: 0.0,
-            heading_deg: 0.0,
-            timestamp_ms: 0,
-            emergency_status: false,
-        }
-    }
-
-    /// Update from a drone state and operator position.
-    ///
-    /// The drone position is stored as honest NED metres — we do **not** fake a
-    /// lat/lon from a local-frame offset. The operator position is true WGS84.
-    pub fn update(&mut self, state: &DroneState, operator_pos: (f64, f64)) {
-        // NED metres, stored as-is in metre-typed fields (no fabricated geodetic
-        // coordinates). A future Location/Vector encoder must transform these
-        // through a datum-anchored NED→WGS84 projection before broadcast.
-        self.drone_north_m = state.position.x; // NED x = north offset, metres
-        self.drone_east_m = state.position.y; // NED y = east offset, metres
-        self.altitude_msl_m = state.altitude_agl_m as f32;
-        self.speed_ms = state.velocity.magnitude() as f32;
-        self.heading_deg = state.heading_rad.to_degrees() as f32;
-        self.timestamp_ms = state.timestamp_ms;
-        self.operator_lat = operator_pos.0;
-        self.operator_lon = operator_pos.1;
-    }
-
-    /// Encode a 25-byte ASTM F3411 Basic ID message.
-    /// Format: [message_type(1)] [id_type(1)] [uas_id(20)] [reserved(3)]
-    pub fn encode_basic_id(&self) -> [u8; 25] {
-        let mut buf = [0u8; 25];
-        buf[0] = 0x00; // Message type: Basic ID
-        buf[1] = 0x01; // ID type: Serial Number
-        buf[2..22].copy_from_slice(&self.uas_id);
-        // bytes 22-24: reserved
-        buf
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_encode_basic_id_length() {
-        let rid = RemoteIdBroadcast::new([0x41u8; 20]);
-        let buf = rid.encode_basic_id();
-        assert_eq!(buf.len(), 25);
-        assert_eq!(buf[1], 0x01); // ID type: serial number
-    }
-
-    #[test]
-    fn test_uas_id_in_encoded_buffer() {
-        let mut id = [0u8; 20];
-        id[0] = 0xFF;
-        let rid = RemoteIdBroadcast::new(id);
-        let buf = rid.encode_basic_id();
-        assert_eq!(buf[2], 0xFF);
-    }
-
-    /// ADR-159 §A3 — a known NED offset must land in honest **metre** fields,
-    /// never in WGS84 lat/lon fields (which would broadcast physically-impossible
-    /// coordinates like "latitude = 37.5 m"). Fails on old code, where the same
-    /// values were stored into `drone_lat`/`drone_lon`.
-    #[test]
-    fn test_ned_offset_stored_as_metres_not_latlon() {
-        use crate::types::{DroneState, NodeId, Position3D};
-
-        let mut state = DroneState::default_at_origin(NodeId(7));
-        // 37.5 m north, -12.0 m east of the takeoff datum.
-        state.position = Position3D {
-            x: 37.5,
-            y: -12.0,
-            z: 5.0,
-        };
-        let mut rid = RemoteIdBroadcast::new([0x41u8; 20]);
-        // Operator at a real WGS84 fix (San Francisco-ish).
-        rid.update(&state, (37.7749, -122.4194));
-
-        // Drone offset is honest NED metres.
-        assert_eq!(rid.drone_north_m, 37.5);
-        assert_eq!(rid.drone_east_m, -12.0);
-
-        // Operator position is the real geodetic fix and is plausibly a lat/lon.
-        assert!((-90.0..=90.0).contains(&rid.operator_lat));
-        assert!((-180.0..=180.0).contains(&rid.operator_lon));
-        assert!((rid.operator_lat - 37.7749).abs() < 1e-9);
-
-        // The drone NED metres would have been an out-of-range "latitude" only
-        // if a value happened to exceed 90 — but the contract is the field name
-        // itself: these are metres, not degrees. A future Location/Vector
-        // encoder must project them through a real NED→WGS84 transform.
-    }
-}

v2/crates/ruview-swarm/src/security/uwb_antispoofing.rs

@@ -1,82 +0,0 @@
-//! UWB-based GPS anti-spoofing: cross-validates GPS position against UWB ranging.
-
-use crate::types::{NodeId, Position3D};
-
-/// Cross-validates GPS against UWB ranging to neighbours.
-pub struct UwbAntiSpoofing {
-    /// Tolerance for GPS vs UWB distance discrepancy, metres.
-    pub tolerance_m: f64,
-    /// Minimum number of UWB neighbours required for a valid cross-check.
-    pub min_neighbors: usize,
-}
-
-impl UwbAntiSpoofing {
-    pub fn new(tolerance_m: f64, min_neighbors: usize) -> Self {
-        Self { tolerance_m, min_neighbors }
-    }
-
-    /// Returns `true` if the GPS position is consistent with UWB ranging data.
-    pub fn is_gps_valid(
-        &self,
-        gps_position: &Position3D,
-        uwb_ranges: &[(NodeId, f64)],
-        neighbor_gps: &[(NodeId, Position3D)],
-    ) -> bool {
-        if uwb_ranges.len() < self.min_neighbors {
-            // Not enough UWB anchors to validate — allow through with warning
-            return true;
-        }
-
-        let validated_count = uwb_ranges
-            .iter()
-            .filter_map(|(id, uwb_dist)| {
-                neighbor_gps
-                    .iter()
-                    .find(|(nid, _)| nid == id)
-                    .map(|(_, ngps)| {
-                        let gps_dist = gps_position.distance_to(ngps);
-                        (gps_dist - uwb_dist).abs() <= self.tolerance_m
-                    })
-            })
-            .filter(|&ok| ok)
-            .count();
-
-        // Require majority of ranges to be consistent
-        validated_count * 2 >= uwb_ranges.len()
-    }
-}
-
-impl Default for UwbAntiSpoofing {
-    fn default() -> Self {
-        Self::new(2.0, 2)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_consistent_gps_valid() {
-        let anti = UwbAntiSpoofing::new(2.0, 2);
-        let gps = Position3D { x: 0.0, y: 0.0, z: 0.0 };
-        let n1_pos = Position3D { x: 10.0, y: 0.0, z: 0.0 };
-        let n2_pos = Position3D { x: 0.0, y: 10.0, z: 0.0 };
-        let uwb_ranges = vec![(NodeId(1), 10.0), (NodeId(2), 10.0)];
-        let neighbor_gps = vec![(NodeId(1), n1_pos), (NodeId(2), n2_pos)];
-        assert!(anti.is_gps_valid(&gps, &uwb_ranges, &neighbor_gps));
-    }
-
-    #[test]
-    fn test_spoofed_gps_invalid() {
-        let anti = UwbAntiSpoofing::new(2.0, 2);
-        // GPS claims (0,0) but UWB says drone is 50m from both neighbours
-        let gps = Position3D { x: 0.0, y: 0.0, z: 0.0 };
-        let n1_pos = Position3D { x: 10.0, y: 0.0, z: 0.0 };
-        let n2_pos = Position3D { x: 0.0, y: 10.0, z: 0.0 };
-        // UWB reports 50m but GPS only shows 10m — spoof detected
-        let uwb_ranges = vec![(NodeId(1), 50.0), (NodeId(2), 50.0)];
-        let neighbor_gps = vec![(NodeId(1), n1_pos), (NodeId(2), n2_pos)];
-        assert!(!anti.is_gps_valid(&gps, &uwb_ranges, &neighbor_gps));
-    }
-}

v2/crates/ruview-swarm/src/sensing/mod.rs

@@ -1,7 +0,0 @@
-pub mod payload;
-pub mod multiview;
-pub mod occworld_bridge;
-
-pub use payload::{CsiPayloadPipeline, PayloadConfig};
-pub use multiview::{MultiViewFusion, FusedDetection};
-pub use occworld_bridge::{OccWorldBridge, OccupancyPrior, VoxelCell};

v2/crates/ruview-swarm/src/sensing/multiview.rs

@@ -1,237 +0,0 @@
-use crate::types::{NodeId, Position3D, CsiDetection};
-
-/// A fused detection result from multiple drone viewpoints.
-#[derive(Debug, Clone)]
-pub struct FusedDetection {
-    pub confidence: f32,
-    pub estimated_position: Position3D,
-    pub contributing_drones: Vec<NodeId>,
-    /// Localization uncertainty ellipse (std dev in metres).
-    pub uncertainty_m: f64,
-}
-
-/// Geometric diversity metric (Cramer-Rao bound proxy).
-/// More diverse viewpoints -> lower bound -> better localization.
-fn geometric_diversity_index(positions: &[Position3D]) -> f64 {
-    if positions.len() < 2 {
-        return 0.0;
-    }
-    // Compute average pairwise angular separation
-    let n = positions.len();
-    let centroid = Position3D {
-        x: positions.iter().map(|p| p.x).sum::<f64>() / n as f64,
-        y: positions.iter().map(|p| p.y).sum::<f64>() / n as f64,
-        z: positions.iter().map(|p| p.z).sum::<f64>() / n as f64,
-    };
-
-    let mut total_angle = 0.0_f64;
-    let mut pairs = 0;
-    for i in 0..n {
-        for j in (i + 1)..n {
-            let a = (positions[i].x - centroid.x, positions[i].y - centroid.y);
-            let b = (positions[j].x - centroid.x, positions[j].y - centroid.y);
-            let dot = a.0 * b.0 + a.1 * b.1;
-            let mag_a = (a.0 * a.0 + a.1 * a.1).sqrt().max(1e-9);
-            let mag_b = (b.0 * b.0 + b.1 * b.1).sqrt().max(1e-9);
-            let cos_angle = (dot / (mag_a * mag_b)).clamp(-1.0, 1.0);
-            total_angle += cos_angle.acos();
-            pairs += 1;
-        }
-    }
-
-    if pairs > 0 { total_angle / pairs as f64 } else { 0.0 }
-}
-
-/// Multi-drone CSI fusion via confidence-weighted position averaging with geometric bias.
-pub struct MultiViewFusion {
-    /// Minimum number of independent viewpoints required to produce a fused result.
-    pub min_viewpoints: usize,
-    /// Minimum confidence of individual detections to include in fusion.
-    pub min_confidence: f32,
-}
-
-impl Default for MultiViewFusion {
-    fn default() -> Self {
-        Self { min_viewpoints: 2, min_confidence: 0.5 }
-    }
-}
-
-impl MultiViewFusion {
-    /// Fuse multiple CSI detections from different drone viewpoints.
-    /// Returns None if fewer than min_viewpoints pass the confidence threshold.
-    pub fn fuse(
-        &self,
-        detections: &[CsiDetection],
-        drone_positions: &[(NodeId, Position3D)],
-    ) -> Option<FusedDetection> {
-        // Filter by confidence and require a FINITE estimated position.
-        //
-        // A peer detection (received via `receive_peer_detection`) carries f32/f64
-        // fields that can deserialize to NaN/Inf. A NaN `victim_position` passes
-        // `is_some()` and would propagate through the confidence-weighted average
-        // into the fused position — dispatching a NaN "confirmed victim" location
-        // to the swarm. A NaN `confidence` is already rejected by `>= min_confidence`
-        // (NaN comparisons are false), but we make that explicit and also require
-        // the victim position components to be finite. Fail CLOSED: drop poisoned
-        // detections rather than fusing them.
-        let valid: Vec<(&CsiDetection, &Position3D)> = detections
-            .iter()
-            .filter(|d| {
-                d.confidence.is_finite()
-                    && d.confidence >= self.min_confidence
-                    && d.victim_position
-                        .map(|p| p.x.is_finite() && p.y.is_finite() && p.z.is_finite())
-                        .unwrap_or(false)
-            })
-            .filter_map(|d| {
-                let drone_pos = drone_positions
-                    .iter()
-                    .find(|(id, _)| *id == d.drone_id)
-                    .map(|(_, p)| p)?;
-                Some((d, drone_pos))
-            })
-            .collect();
-
-        if valid.len() < self.min_viewpoints {
-            return None;
-        }
-
-        // Compute geometric diversity index for uncertainty estimate
-        let drone_pos_list: Vec<Position3D> = valid.iter().map(|(_, p)| **p).collect();
-        let gdi = geometric_diversity_index(&drone_pos_list);
-
-        // Weighted average of victim position estimates
-        let total_weight: f32 = valid.iter().map(|(d, _)| d.confidence).sum();
-        let mut fused_x = 0.0_f64;
-        let mut fused_y = 0.0_f64;
-        let mut fused_z = 0.0_f64;
-        let mut fused_conf = 0.0_f32;
-
-        for (det, _) in &valid {
-            let w = det.confidence / total_weight;
-            let vp = det.victim_position.unwrap();
-            fused_x += w as f64 * vp.x;
-            fused_y += w as f64 * vp.y;
-            fused_z += w as f64 * vp.z;
-            fused_conf += w * det.confidence;
-        }
-
-        // Uncertainty shrinks with geometric diversity and number of viewpoints:
-        // baseline 5 m (single drone) -> scales down by sqrt(n) and gdi factor
-        let base_uncertainty_m = 5.0;
-        let n = valid.len() as f64;
-        let gdi_factor = (1.0 + gdi / std::f64::consts::PI).clamp(1.0, 2.0);
-        let uncertainty_m = base_uncertainty_m / (n.sqrt() * gdi_factor);
-
-        Some(FusedDetection {
-            confidence: fused_conf,
-            estimated_position: Position3D { x: fused_x, y: fused_y, z: fused_z },
-            contributing_drones: valid.iter().map(|(d, _)| d.drone_id).collect(),
-            uncertainty_m,
-        })
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_fusion_single_view_insufficient() {
-        let fusion = MultiViewFusion { min_viewpoints: 2, min_confidence: 0.5 };
-        let det = CsiDetection {
-            drone_id: NodeId(0),
-            confidence: 0.9,
-            victim_position: Some(Position3D { x: 10.0, y: 5.0, z: 0.0 }),
-            timestamp_ms: 0,
-        };
-        let result = fusion.fuse(&[det], &[(NodeId(0), Position3D::zero())]);
-        assert!(result.is_none(), "single viewpoint should not produce fusion");
-    }
-
-    #[test]
-    fn test_fusion_three_views() {
-        let fusion = MultiViewFusion::default();
-        let victim = Position3D { x: 50.0, y: 50.0, z: 0.0 };
-        let detections = vec![
-            CsiDetection {
-                drone_id: NodeId(0),
-                confidence: 0.85,
-                victim_position: Some(Position3D { x: 51.0, y: 49.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-            CsiDetection {
-                drone_id: NodeId(1),
-                confidence: 0.78,
-                victim_position: Some(Position3D { x: 49.0, y: 51.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-            CsiDetection {
-                drone_id: NodeId(2),
-                confidence: 0.92,
-                victim_position: Some(Position3D { x: 50.0, y: 50.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-        ];
-        let positions = vec![
-            (NodeId(0), Position3D { x: 0.0, y: 0.0, z: -30.0 }),
-            (NodeId(1), Position3D { x: 100.0, y: 0.0, z: -30.0 }),
-            (NodeId(2), Position3D { x: 50.0, y: 86.6, z: -30.0 }), // equilateral triangle
-        ];
-
-        let result = fusion.fuse(&detections, &positions).unwrap();
-        let err = result.estimated_position.distance_to(&victim);
-        assert!(
-            err < 3.0,
-            "fusion error {} m should be < 3 m for 3 equilateral viewpoints",
-            err
-        );
-        assert!(
-            result.uncertainty_m < 5.0,
-            "uncertainty {} should be < 5 m single-drone baseline",
-            result.uncertainty_m
-        );
-    }
-
-    /// Security: a detection with a NaN victim position (poisoned peer report)
-    /// must be dropped, not fused. Fails on old code where the NaN propagates
-    /// into the confidence-weighted average and the fused position is NaN.
-    #[test]
-    fn test_nan_victim_position_dropped_from_fusion() {
-        let fusion = MultiViewFusion { min_viewpoints: 2, min_confidence: 0.5 };
-        let detections = vec![
-            CsiDetection {
-                drone_id: NodeId(0),
-                confidence: 0.9,
-                victim_position: Some(Position3D { x: 50.0, y: 50.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-            CsiDetection {
-                drone_id: NodeId(1),
-                confidence: 0.9,
-                victim_position: Some(Position3D { x: f64::NAN, y: 50.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-            CsiDetection {
-                drone_id: NodeId(2),
-                confidence: 0.9,
-                victim_position: Some(Position3D { x: 50.0, y: 50.0, z: 0.0 }),
-                timestamp_ms: 0,
-            },
-        ];
-        let positions = vec![
-            (NodeId(0), Position3D { x: 0.0, y: 0.0, z: -30.0 }),
-            (NodeId(1), Position3D { x: 100.0, y: 0.0, z: -30.0 }),
-            (NodeId(2), Position3D { x: 50.0, y: 86.6, z: -30.0 }),
-        ];
-        // Two finite viewpoints remain → still fuses, but the result must be finite.
-        let result = fusion.fuse(&detections, &positions).unwrap();
-        assert!(
-            result.estimated_position.x.is_finite()
-                && result.estimated_position.y.is_finite()
-                && result.estimated_position.z.is_finite(),
-            "fused position must be finite when a NaN detection is present"
-        );
-        assert!(!result.contributing_drones.contains(&NodeId(1)), "NaN detection must be excluded");
-    }
-}

v2/crates/ruview-swarm/src/sensing/occworld_bridge.rs

@@ -1,146 +0,0 @@
-//! Bridge between OccWorld Python subprocess (ADR-147) and the Rust swarm planner.
-use crate::types::Position3D;
-use std::path::PathBuf;
-
-/// A 3-D occupancy grid cell.
-#[derive(Debug, Clone, Copy, serde::Serialize, serde::Deserialize)]
-pub struct VoxelCell {
-    pub x: f32,
-    pub y: f32,
-    pub z: f32,
-    pub occupancy: f32,      // 0.0 = free, 1.0 = occupied
-    pub semantic_class: u8,  // 0=free, 1=wall, 2=floor, 3=person, 4=furniture
-}
-
-/// Occupancy prior produced by OccWorld inference (ADR-147).
-pub struct OccupancyPrior {
-    pub voxels: Vec<VoxelCell>,
-    pub resolution_m: f32,
-    pub origin: (f32, f32, f32),
-    pub timestamp_ms: u64,
-}
-
-impl OccupancyPrior {
-    /// Extract free-space cells (occupancy < threshold) at a given altitude band.
-    /// Used by RRT* as valid sampling space.
-    pub fn free_cells_at_altitude(&self, target_z: f32, band_m: f32, threshold: f32) -> Vec<(f32, f32)> {
-        self.voxels
-            .iter()
-            .filter(|v| v.occupancy < threshold && (v.z - target_z).abs() < band_m)
-            .map(|v| (v.x, v.y))
-            .collect()
-    }
-
-    /// Extract occupied cells (walls, debris). Used as obstacles for path planning.
-    pub fn obstacle_cells(&self, threshold: f32) -> Vec<Position3D> {
-        self.voxels
-            .iter()
-            .filter(|v| v.occupancy >= threshold)
-            .map(|v| Position3D { x: v.x as f64, y: v.y as f64, z: v.z as f64 })
-            .collect()
-    }
-
-    /// Cells where a person voxel is predicted (semantic_class == 3).
-    /// Initializes the Bayesian probability grid with a prior.
-    pub fn person_cells(&self) -> Vec<Position3D> {
-        self.voxels
-            .iter()
-            .filter(|v| v.semantic_class == 3)
-            .map(|v| Position3D { x: v.x as f64, y: v.y as f64, z: v.z as f64 })
-            .collect()
-    }
-
-    /// Generate a synthetic 20 × 20 × 3 m room prior for demo mode.
-    ///
-    /// The room has wall voxels on the perimeter and free-space voxels in the
-    /// interior, at the requested voxel resolution.
-    pub fn synthetic_room(resolution_m: f32) -> Self {
-        let mut voxels = Vec::new();
-        let room = 20.0f32;
-        let steps = (room / resolution_m) as i32;
-        for xi in 0..steps {
-            for yi in 0..steps {
-                for zi in 0..15i32 { // 3 m height (15 × 0.2 m slices)
-                    let x = xi as f32 * resolution_m - room / 2.0;
-                    let y = yi as f32 * resolution_m - room / 2.0;
-                    let z = zi as f32 * resolution_m;
-                    let is_wall = xi == 0 || xi == steps - 1 || yi == 0 || yi == steps - 1;
-                    voxels.push(VoxelCell {
-                        x,
-                        y,
-                        z,
-                        occupancy: if is_wall { 1.0 } else { 0.0 },
-                        semantic_class: if is_wall { 1 } else if zi == 0 { 2 } else { 0 },
-                    });
-                }
-            }
-        }
-        OccupancyPrior { voxels, resolution_m, origin: (0.0, 0.0, 0.0), timestamp_ms: 0 }
-    }
-}
-
-/// Bridge to the OccWorld Python subprocess (ADR-147).
-/// Provides 3-D occupancy priors for the RRT* path planner and the Bayesian
-/// victim-probability grid. In demo mode, returns a synthetic room prior.
-pub struct OccWorldBridge {
-    /// Path to the OccWorld Python script.
-    pub script_path: PathBuf,
-    /// Cache of the last inference result.
-    last_prior: Option<OccupancyPrior>,
-}
-
-impl Default for OccWorldBridge {
-    fn default() -> Self {
-        Self { script_path: PathBuf::from("occworld_infer.py"), last_prior: None }
-    }
-}
-
-impl OccWorldBridge {
-    pub fn new(script_path: PathBuf) -> Self {
-        Self { script_path, last_prior: None }
-    }
-
-    /// Run a demo-mode inference using the synthetic room prior.
-    /// No subprocess is spawned; the result is immediately available.
-    pub async fn infer_demo(&mut self) -> &OccupancyPrior {
-        self.last_prior = Some(OccupancyPrior::synthetic_room(0.2));
-        self.last_prior.as_ref().unwrap()
-    }
-
-    /// Run OccWorld inference and return the occupancy prior.
-    /// In demo mode: returns a synthetic prior with configurable obstacles.
-    pub async fn infer(&mut self, demo_mode: bool) -> crate::SwarmResult<&OccupancyPrior> {
-        if demo_mode {
-            self.last_prior = Some(OccupancyPrior::synthetic_room(0.2));
-        } else {
-            // Production: spawn Python subprocess, read JSON output.
-            // let output = tokio::process::Command::new("python3")
-            //     .arg(&self.script_path)
-            //     .arg("--mode=infer")
-            //     .output().await?;
-            // parse JSON output into OccupancyPrior.
-            // Fallback to synthetic for now until subprocess integration is complete.
-            self.last_prior = Some(OccupancyPrior::synthetic_room(0.2));
-        }
-        Ok(self.last_prior.as_ref().unwrap())
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_synthetic_room_has_walls() {
-        let prior = OccupancyPrior::synthetic_room(0.5);
-        let obstacles = prior.obstacle_cells(0.5);
-        assert!(!obstacles.is_empty(), "room should have wall voxels");
-    }
-
-    #[test]
-    fn test_free_cells_at_altitude() {
-        let prior = OccupancyPrior::synthetic_room(0.5);
-        let free = prior.free_cells_at_altitude(1.5, 0.5, 0.5);
-        assert!(!free.is_empty(), "room interior should have free cells");
-    }
-}

v2/crates/ruview-swarm/src/sensing/payload.rs

@@ -1,137 +0,0 @@
-use crate::types::{NodeId, Position3D, CsiDetection};
-
-/// Configuration for the onboard CSI sensing payload.
-#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
-pub struct PayloadConfig {
-    pub scan_freq_hz: f64,         // 10.0 nominal, 20.0 during Phase 3 convergence
-    pub detection_range_m: f64,    // ~28.0 m (Wi2SAR validated)
-    pub confidence_threshold: f32, // minimum confidence to report detection (0.6)
-    pub esp32_baud_rate: u32,      // 921600
-}
-
-impl Default for PayloadConfig {
-    fn default() -> Self {
-        Self {
-            scan_freq_hz: 10.0,
-            detection_range_m: 28.0,
-            confidence_threshold: 0.6,
-            esp32_baud_rate: 921600,
-        }
-    }
-}
-
-/// Represents the CSI sensing payload pipeline running on the drone's companion compute.
-/// In production: reads from ESP32-S3 via serial TDM; runs CIR (ADR-134) -> RF encoder (ADR-146).
-/// In demo/sim mode: generates synthetic detections.
-pub struct CsiPayloadPipeline {
-    pub node_id: NodeId,
-    pub config: PayloadConfig,
-    mode: PipelineMode,
-}
-
-// Fields in Live and Replay variants are unused until the serial/file backends are wired up.
-#[allow(dead_code)]
-enum PipelineMode {
-    /// Live pipeline: reads from serial port.
-    Live { port_path: String },
-    /// Demo/simulation mode: synthetic CSI generation.
-    Synthetic {
-        victim_positions: Vec<Position3D>,
-        noise_std: f64,
-        rng_seed: u64,
-    },
-    /// Replay mode: reads from recorded CSI file.
-    Replay { file_path: String, loop_replay: bool },
-}
-
-impl CsiPayloadPipeline {
-    pub fn new_live(node_id: NodeId, config: PayloadConfig, port: &str) -> Self {
-        Self { node_id, config, mode: PipelineMode::Live { port_path: port.to_string() } }
-    }
-
-    pub fn new_synthetic(
-        node_id: NodeId,
-        config: PayloadConfig,
-        victims: Vec<Position3D>,
-        noise_std: f64,
-        seed: u64,
-    ) -> Self {
-        Self {
-            node_id,
-            config,
-            mode: PipelineMode::Synthetic {
-                victim_positions: victims,
-                noise_std,
-                rng_seed: seed,
-            },
-        }
-    }
-
-    pub fn new_replay(node_id: NodeId, config: PayloadConfig, path: &str, loop_replay: bool) -> Self {
-        Self {
-            node_id,
-            config,
-            mode: PipelineMode::Replay {
-                file_path: path.to_string(),
-                loop_replay,
-            },
-        }
-    }
-
-    /// Scan the current position and return a detection report (if any).
-    pub async fn scan(&self, drone_pos: &Position3D) -> Option<CsiDetection> {
-        match &self.mode {
-            PipelineMode::Synthetic { victim_positions, noise_std, rng_seed } => {
-                self.synthetic_scan(drone_pos, victim_positions, *noise_std, *rng_seed)
-            }
-            PipelineMode::Live { .. } => {
-                // Production: would read from serial port, run CIR+RF encoder pipeline
-                // For now: return None (requires hardware)
-                None
-            }
-            PipelineMode::Replay { .. } => {
-                // Production: would read from recorded file
-                None
-            }
-        }
-    }
-
-    fn synthetic_scan(
-        &self,
-        drone_pos: &Position3D,
-        victims: &[Position3D],
-        noise_std: f64,
-        _seed: u64,
-    ) -> Option<CsiDetection> {
-        use rand::Rng;
-        let mut rng = rand::thread_rng();
-
-        for victim in victims {
-            let dist = drone_pos.distance_to(victim);
-            if dist < self.config.detection_range_m {
-                let base_confidence = (-dist / self.config.detection_range_m).exp();
-                let noise: f64 = rng.gen_range(-noise_std..noise_std);
-                let confidence = (base_confidence + noise).clamp(0.0, 1.0) as f32;
-
-                if confidence >= self.config.confidence_threshold {
-                    let pos_noise_x: f64 = rng.gen_range(-noise_std * 5.0..noise_std * 5.0);
-                    let pos_noise_y: f64 = rng.gen_range(-noise_std * 5.0..noise_std * 5.0);
-                    return Some(CsiDetection {
-                        drone_id: self.node_id,
-                        confidence,
-                        victim_position: Some(Position3D {
-                            x: victim.x + pos_noise_x,
-                            y: victim.y + pos_noise_y,
-                            z: victim.z,
-                        }),
-                        timestamp_ms: std::time::SystemTime::now()
-                            .duration_since(std::time::UNIX_EPOCH)
-                            .map(|d| d.as_millis() as u64)
-                            .unwrap_or(0),
-                    });
-                }
-            }
-        }
-        None
-    }
-}

v2/crates/ruview-swarm/src/topology/gossip.rs

@@ -1,78 +0,0 @@
-//! Gossip-based state dissemination for the swarm.
-
-use crate::types::NodeId;
-use rand::seq::SliceRandom;
-use serde::{Deserialize, Serialize};
-
-/// A gossip-propagated state value with versioning.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct GossipState<T: Clone> {
-    pub value: T,
-    pub version: u64,
-    pub origin: NodeId,
-    pub timestamp_ms: u64,
-}
-
-impl<T: Clone> GossipState<T> {
-    pub fn new(value: T, origin: NodeId, timestamp_ms: u64) -> Self {
-        Self { value, version: 1, origin, timestamp_ms }
-    }
-
-    /// Last-write-wins merge: higher version wins; ties go to higher origin id.
-    pub fn merge(a: GossipState<T>, b: GossipState<T>) -> GossipState<T> {
-        if a.version > b.version {
-            a
-        } else if b.version > a.version {
-            b
-        } else if a.origin.0 >= b.origin.0 {
-            a
-        } else {
-            b
-        }
-    }
-
-    /// Increment the version (call when mutating a local copy before gossiping).
-    pub fn bump(&mut self) {
-        self.version += 1;
-    }
-
-    /// Choose `fanout` random peer IDs to spread this state to, excluding the
-    /// local node and the origin to avoid trivial loops.
-    pub fn spread(
-        &self,
-        fanout: usize,
-        all_peers: &[NodeId],
-        local_id: NodeId,
-        rng: &mut impl rand::Rng,
-    ) -> Vec<NodeId> {
-        let mut candidates: Vec<NodeId> = all_peers
-            .iter()
-            .copied()
-            .filter(|&n| n != local_id && n != self.origin)
-            .collect();
-        candidates.shuffle(rng);
-        candidates.truncate(fanout);
-        candidates
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_merge_higher_version_wins() {
-        let a: GossipState<u32> = GossipState { value: 1, version: 2, origin: NodeId(1), timestamp_ms: 0 };
-        let b: GossipState<u32> = GossipState { value: 2, version: 5, origin: NodeId(2), timestamp_ms: 0 };
-        let merged = GossipState::merge(a, b);
-        assert_eq!(merged.value, 2);
-    }
-
-    #[test]
-    fn test_merge_tie_higher_origin_wins() {
-        let a: GossipState<u32> = GossipState { value: 10, version: 3, origin: NodeId(5), timestamp_ms: 0 };
-        let b: GossipState<u32> = GossipState { value: 20, version: 3, origin: NodeId(2), timestamp_ms: 0 };
-        let merged = GossipState::merge(a, b);
-        assert_eq!(merged.value, 10); // origin 5 > 2
-    }
-}

v2/crates/ruview-swarm/src/topology/mesh.rs

@@ -1,84 +0,0 @@
-//! Mesh topology: maintains a live view of all drone nodes.
-
-use crate::types::{DroneState, NodeId};
-use std::collections::HashMap;
-
-/// Hierarchical-mesh topology view.
-pub struct MeshTopology {
-    pub nodes: HashMap<NodeId, DroneState>,
-    pub cluster_head: Option<NodeId>,
-}
-
-impl MeshTopology {
-    pub fn new() -> Self {
-        Self {
-            nodes: HashMap::new(),
-            cluster_head: None,
-        }
-    }
-
-    /// Upsert a node's state.
-    pub fn update_node(&mut self, state: DroneState) {
-        self.nodes.insert(state.id, state);
-    }
-
-    /// Remove a node (e.g. on dropout).
-    pub fn remove_node(&mut self, id: &NodeId) {
-        self.nodes.remove(id);
-        if self.cluster_head == Some(*id) {
-            self.cluster_head = None;
-        }
-    }
-
-    /// All active nodes (sorted by id for determinism).
-    pub fn active_nodes(&self) -> Vec<&DroneState> {
-        let mut v: Vec<_> = self.nodes.values().collect();
-        v.sort_by_key(|s| s.id.0);
-        v
-    }
-
-    /// Returns the `k` nearest nodes to `from`, sorted ascending by distance.
-    pub fn nearest_k(&self, from: NodeId, k: usize) -> Vec<NodeId> {
-        if let Some(origin) = self.nodes.get(&from) {
-            let mut distances: Vec<(f64, NodeId)> = self
-                .nodes
-                .iter()
-                .filter(|(&id, _)| id != from)
-                .map(|(&id, s)| (origin.position.distance_to(&s.position), id))
-                .collect();
-            distances.sort_by(|a, b| a.0.partial_cmp(&b.0).unwrap_or(std::cmp::Ordering::Equal));
-            distances.truncate(k);
-            distances.into_iter().map(|(_, id)| id).collect()
-        } else {
-            vec![]
-        }
-    }
-}
-
-impl Default for MeshTopology {
-    fn default() -> Self {
-        Self::new()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::Position3D;
-
-    #[test]
-    fn test_nearest_k() {
-        let mut topo = MeshTopology::new();
-        let mut s0 = DroneState::default_at_origin(NodeId(0));
-        s0.position = Position3D { x: 0.0, y: 0.0, z: 0.0 };
-        let mut s1 = DroneState::default_at_origin(NodeId(1));
-        s1.position = Position3D { x: 10.0, y: 0.0, z: 0.0 };
-        let mut s2 = DroneState::default_at_origin(NodeId(2));
-        s2.position = Position3D { x: 5.0, y: 0.0, z: 0.0 };
-        topo.update_node(s0);
-        topo.update_node(s1);
-        topo.update_node(s2);
-        let nearest = topo.nearest_k(NodeId(0), 1);
-        assert_eq!(nearest, vec![NodeId(2)]);
-    }
-}

v2/crates/ruview-swarm/src/topology/mod.rs

@@ -1,13 +0,0 @@
-//! Swarm topology: Raft consensus, gossip dissemination, mesh management.
-
-// NOTE: Raft consensus is ITAR-controlled (USML Category VIII(h)(12)).
-// Gossip and mesh are ungated — they are not controlled technologies.
-#[cfg(feature = "itar-unrestricted")]
-pub mod raft;
-pub mod gossip;
-pub mod mesh;
-
-#[cfg(feature = "itar-unrestricted")]
-pub use raft::{RaftConfig, RaftNode, RaftRole};
-pub use gossip::GossipState;
-pub use mesh::MeshTopology;

v2/crates/ruview-swarm/src/topology/raft.rs

@@ -1,254 +0,0 @@
-//! Raft-based cluster-head election for drone swarms.
-
-use crate::types::{DroneState, NodeId};
-use serde::{Deserialize, Serialize};
-use std::time::Duration;
-
-/// Configuration for the Raft consensus engine.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct RaftConfig {
-    pub election_timeout_ms: u64,
-    pub heartbeat_ms: u64,
-    pub min_battery_pct: f32,
-    pub min_link_quality: f32,
-}
-
-impl Default for RaftConfig {
-    fn default() -> Self {
-        Self {
-            election_timeout_ms: 300,
-            heartbeat_ms: 100,
-            min_battery_pct: 20.0,
-            min_link_quality: 0.4,
-        }
-    }
-}
-
-/// Role within the Raft cluster.
-#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
-pub enum RaftRole {
-    Follower,
-    Candidate,
-    Leader,
-}
-
-/// A log entry stored by the Raft leader.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct LogEntry {
-    pub term: u64,
-    pub data: Vec<u8>,
-}
-
-/// Messages exchanged between Raft peers.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub enum RaftMessage {
-    RequestVote {
-        term: u64,
-        candidate_id: NodeId,
-        last_log_index: u64,
-        last_log_term: u64,
-    },
-    VoteGranted {
-        term: u64,
-        voter_id: NodeId,
-        granted: bool,
-    },
-    AppendEntries {
-        term: u64,
-        leader_id: NodeId,
-        prev_log_index: u64,
-        prev_log_term: u64,
-        entries: Vec<LogEntry>,
-        leader_commit: u64,
-    },
-    AppendEntriesAck {
-        term: u64,
-        follower_id: NodeId,
-        success: bool,
-        match_index: u64,
-    },
-}
-
-/// A Raft node driving cluster-head election within a swarm cluster.
-pub struct RaftNode {
-    pub id: NodeId,
-    pub role: RaftRole,
-    pub current_term: u64,
-    pub voted_for: Option<NodeId>,
-    pub log: Vec<LogEntry>,
-    pub commit_index: u64,
-    pub config: RaftConfig,
-    /// Votes received as candidate.
-    votes_received: u32,
-    /// Elapsed time since last heartbeat/election-timeout reset (ms).
-    elapsed_since_last_event_ms: u64,
-}
-
-impl RaftNode {
-    pub fn new(id: NodeId, config: RaftConfig) -> Self {
-        Self {
-            id,
-            role: RaftRole::Follower,
-            current_term: 0,
-            voted_for: None,
-            log: Vec::new(),
-            commit_index: 0,
-            config,
-            votes_received: 0,
-            elapsed_since_last_event_ms: 0,
-        }
-    }
-
-    /// Check whether a drone is eligible to become cluster head.
-    pub fn is_eligible_leader(state: &DroneState, config: &RaftConfig) -> bool {
-        state.battery_pct >= config.min_battery_pct
-            && state.link_quality >= config.min_link_quality
-    }
-
-    /// Drive the Raft state machine by one time step.
-    /// Returns a message to broadcast if an election event fires.
-    pub fn tick(&mut self, elapsed: Duration, peers: &[DroneState]) -> Option<RaftMessage> {
-        let elapsed_ms = elapsed.as_millis() as u64;
-        self.elapsed_since_last_event_ms += elapsed_ms;
-
-        match self.role {
-            RaftRole::Leader => {
-                if self.elapsed_since_last_event_ms >= self.config.heartbeat_ms {
-                    self.elapsed_since_last_event_ms = 0;
-                    let last_index = self.log.len() as u64;
-                    let last_term = self.log.last().map(|e| e.term).unwrap_or(0);
-                    return Some(RaftMessage::AppendEntries {
-                        term: self.current_term,
-                        leader_id: self.id,
-                        prev_log_index: last_index,
-                        prev_log_term: last_term,
-                        entries: vec![],
-                        leader_commit: self.commit_index,
-                    });
-                }
-                None
-            }
-            RaftRole::Follower | RaftRole::Candidate => {
-                if self.elapsed_since_last_event_ms >= self.config.election_timeout_ms {
-                    self.elapsed_since_last_event_ms = 0;
-                    self.current_term += 1;
-                    self.role = RaftRole::Candidate;
-                    self.voted_for = Some(self.id);
-                    self.votes_received = 1;
-
-                    let last_index = self.log.len() as u64;
-                    let last_term = self.log.last().map(|e| e.term).unwrap_or(0);
-                    let quorum = (peers.len() / 2 + 1) as u32;
-                    // Immediately win if quorum of 1 (single node)
-                    if quorum <= 1 {
-                        self.role = RaftRole::Leader;
-                    }
-                    return Some(RaftMessage::RequestVote {
-                        term: self.current_term,
-                        candidate_id: self.id,
-                        last_log_index: last_index,
-                        last_log_term: last_term,
-                    });
-                }
-                None
-            }
-        }
-    }
-
-    /// Process an incoming Raft message and optionally produce a reply.
-    pub fn handle_message(&mut self, msg: RaftMessage) -> Option<RaftMessage> {
-        match msg {
-            RaftMessage::RequestVote { term, candidate_id, .. } => {
-                if term > self.current_term {
-                    self.current_term = term;
-                    self.role = RaftRole::Follower;
-                    self.voted_for = None;
-                }
-                let vote_granted = term >= self.current_term
-                    && (self.voted_for.is_none() || self.voted_for == Some(candidate_id));
-                if vote_granted {
-                    self.voted_for = Some(candidate_id);
-                    self.elapsed_since_last_event_ms = 0;
-                }
-                Some(RaftMessage::VoteGranted {
-                    term: self.current_term,
-                    voter_id: self.id,
-                    granted: vote_granted,
-                })
-            }
-            RaftMessage::VoteGranted { term, granted, .. } => {
-                if term == self.current_term && self.role == RaftRole::Candidate && granted {
-                    self.votes_received += 1;
-                    // Assume we know how many peers there are via a simple threshold
-                    // The caller is responsible for passing all peer votes
-                }
-                None
-            }
-            RaftMessage::AppendEntries { term, leader_id: _, entries, leader_commit, .. } => {
-                if term >= self.current_term {
-                    self.current_term = term;
-                    self.role = RaftRole::Follower;
-                    self.voted_for = None;
-                    self.elapsed_since_last_event_ms = 0;
-                    for entry in entries {
-                        self.log.push(entry);
-                    }
-                    if leader_commit > self.commit_index {
-                        self.commit_index = leader_commit.min(self.log.len() as u64);
-                    }
-                    let match_index = self.log.len() as u64;
-                    return Some(RaftMessage::AppendEntriesAck {
-                        term: self.current_term,
-                        follower_id: self.id,
-                        success: true,
-                        match_index,
-                    });
-                }
-                Some(RaftMessage::AppendEntriesAck {
-                    term: self.current_term,
-                    follower_id: self.id,
-                    success: false,
-                    match_index: self.log.len() as u64,
-                })
-            }
-            RaftMessage::AppendEntriesAck { .. } => None,
-        }
-    }
-
-    /// Promote to leader once quorum reached. Called by orchestrator.
-    pub fn try_promote(&mut self, cluster_size: usize) {
-        if self.role == RaftRole::Candidate {
-            let quorum = (cluster_size / 2 + 1) as u32;
-            if self.votes_received >= quorum {
-                self.role = RaftRole::Leader;
-            }
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::types::DroneState;
-
-    #[test]
-    fn test_eligibility_check() {
-        let config = RaftConfig::default();
-        let mut state = DroneState::default_at_origin(NodeId(1));
-        state.battery_pct = 50.0;
-        state.link_quality = 0.9;
-        assert!(RaftNode::is_eligible_leader(&state, &config));
-
-        state.battery_pct = 5.0;
-        assert!(!RaftNode::is_eligible_leader(&state, &config));
-    }
-
-    #[test]
-    fn test_election_starts_after_timeout() {
-        let config = RaftConfig { election_timeout_ms: 100, ..Default::default() };
-        let mut node = RaftNode::new(NodeId(1), config);
-        let result = node.tick(Duration::from_millis(200), &[]);
-        assert!(result.is_some());
-        assert_eq!(node.role, RaftRole::Leader); // single node wins immediately
-    }
-}

v2/crates/ruview-swarm/src/types.rs

@@ -1,178 +0,0 @@
-//! Core domain types for the swarm control system.
-
-use serde::{Deserialize, Serialize};
-
-/// Unique identifier for a drone node in the swarm.
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
-pub struct NodeId(pub u32);
-
-/// Unique identifier for a swarm cluster.
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
-pub struct ClusterId(pub u32);
-
-/// Unique identifier for a swarm task.
-#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
-pub struct TaskId(pub u64);
-
-/// 3-D position in local NED (North-East-Down) frame, metres.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize, Default, PartialEq)]
-pub struct Position3D {
-    pub x: f64, // north, m
-    pub y: f64, // east, m
-    pub z: f64, // down, m (negative = above ground)
-}
-
-impl Position3D {
-    pub fn distance_to(&self, other: &Position3D) -> f64 {
-        let dx = self.x - other.x;
-        let dy = self.y - other.y;
-        let dz = self.z - other.z;
-        (dx * dx + dy * dy + dz * dz).sqrt()
-    }
-
-    pub fn zero() -> Self {
-        Self { x: 0.0, y: 0.0, z: 0.0 }
-    }
-}
-
-/// Velocity in local NED frame, m/s.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize, Default)]
-pub struct Velocity3D {
-    pub vx: f64,
-    pub vy: f64,
-    pub vz: f64,
-}
-
-impl Velocity3D {
-    pub fn magnitude(&self) -> f64 {
-        (self.vx * self.vx + self.vy * self.vy + self.vz * self.vz).sqrt()
-    }
-}
-
-impl From<(f64, f64, f64)> for Position3D {
-    fn from(t: (f64, f64, f64)) -> Self {
-        Self { x: t.0, y: t.1, z: t.2 }
-    }
-}
-
-impl From<Velocity3D> for Position3D {
-    fn from(v: Velocity3D) -> Self {
-        Self { x: v.vx, y: v.vy, z: v.vz }
-    }
-}
-
-/// Full kinematic state of a drone node.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct DroneState {
-    pub id: NodeId,
-    pub position: Position3D,
-    pub velocity: Velocity3D,
-    pub heading_rad: f64,
-    pub altitude_agl_m: f64,
-    pub battery_pct: f32,     // 0.0–100.0
-    pub link_quality: f32,    // 0.0–1.0 (RSSI normalised)
-    pub timestamp_ms: u64,
-}
-
-impl DroneState {
-    /// Construct a default state for a node at the origin.
-    pub fn default_at_origin(id: NodeId) -> Self {
-        Self {
-            id,
-            position: Position3D::zero(),
-            velocity: Velocity3D::default(),
-            heading_rad: 0.0,
-            altitude_agl_m: 0.0,
-            battery_pct: 100.0,
-            link_quality: 1.0,
-            timestamp_ms: 0,
-        }
-    }
-}
-
-/// CSI detection report from a drone's sensing payload.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct CsiDetection {
-    pub drone_id: NodeId,
-    pub confidence: f32,      // 0.0–1.0
-    pub victim_position: Option<Position3D>,
-    pub timestamp_ms: u64,
-}
-
-/// A cell in the 2-D mission area probability grid.
-#[derive(Debug, Clone, Copy, Serialize, Deserialize, Default)]
-pub struct GridCell {
-    pub x_idx: u32,
-    pub y_idx: u32,
-    pub victim_probability: f32,   // Bayesian posterior
-    pub pheromone: f32,            // stigmergic coverage signal
-    pub last_scanned_ms: u64,
-}
-
-/// Mission-level task that can be assigned to a drone.
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub struct SwarmTask {
-    pub id: TaskId,
-    pub kind: TaskKind,
-    pub priority: f32,
-    pub target: Position3D,
-    pub deadline_ms: Option<u64>,
-    pub assigned_to: Option<NodeId>,
-}
-
-#[derive(Debug, Clone, Serialize, Deserialize)]
-pub enum TaskKind {
-    CoverCell { grid_x: u32, grid_y: u32 },
-    InvestigateVictim { estimated_position: Position3D },
-    Triangulate { collaborators: Vec<NodeId> },
-    ReturnToHome,
-    HoverRelay,
-    LandEmergency,
-}
-
-/// Role of a node within the hierarchical swarm.
-#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
-pub enum SwarmRole {
-    ClusterHead,
-    Worker,
-    RelayNode,
-    GroundControlStation,
-}
-
-/// Failsafe state alias re-exported from failsafe module.
-/// Used here to break circular dependency.
-#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
-pub enum FailSafeState {
-    Nominal,
-    AutonomousHold,
-    LowBatteryWarn,
-    ReturnToHome,
-    EmergencyLand,
-    EmergencyDiverge,
-    ControlledDescent,
-}
-
-/// Top-level swarm error type.
-#[derive(Debug, thiserror::Error)]
-pub enum SwarmError {
-    #[error("consensus error: {0}")]
-    Consensus(String),
-    #[error("communication error: {0}")]
-    Communication(String),
-    #[error("navigation error: {0}")]
-    Navigation(String),
-    #[error("security violation: {0}")]
-    Security(String),
-    #[error("geofence breach at {position:?}")]
-    GeofenceBreach { position: Position3D },
-    #[error("task allocation failed: {0}")]
-    Allocation(String),
-    #[error("sensing error: {0}")]
-    Sensing(String),
-    #[error("config error: {0}")]
-    Config(#[from] toml::de::Error),
-    #[error("io error: {0}")]
-    Io(#[from] std::io::Error),
-}
-
-pub type SwarmResult<T> = Result<T, SwarmError>;

v2/crates/ruview-swarm/viz/sample_levy.jsonl

@@ -1,161 +0,0 @@
-{"type":"meta","profile":"sar · flight=levy_flight · learn=curiosity","drones":4,"area_w":400.00,"area_h":400.00,"victims":[[80.00,120.00],[240.00,180.00]]}
-{"type":"episode","ep":0,"mean_return":40.6910,"policy_loss":15.2719,"value_loss":12032.7422,"victims_found":0}
-{"type":"episode","ep":1,"mean_return":40.6910,"policy_loss":-6.7265,"value_loss":11992.9619,"victims_found":0}
-{"type":"episode","ep":2,"mean_return":40.6910,"policy_loss":-28.3518,"value_loss":11954.5889,"victims_found":0}
-{"type":"episode","ep":3,"mean_return":40.6910,"policy_loss":-50.8272,"value_loss":11913.7246,"victims_found":0}
-{"type":"episode","ep":4,"mean_return":40.6910,"policy_loss":-75.4711,"value_loss":11870.9639,"victims_found":0}
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-{"type":"step","ep":29,"step":116,"t":116.00,"coverage":0.3591,"drones":[{"id":0,"x":48.89,"y":354.87,"hdg":2.229,"batt":100.0,"det":false},{"id":1,"x":148.89,"y":354.87,"hdg":2.229,"batt":100.0,"det":false},{"id":2,"x":248.89,"y":354.87,"hdg":2.229,"batt":100.0,"det":false},{"id":3,"x":348.89,"y":354.87,"hdg":2.229,"batt":100.0,"det":false}]}
-{"type":"step","ep":29,"step":117,"t":117.00,"coverage":0.3594,"drones":[{"id":0,"x":47.69,"y":362.77,"hdg":1.722,"batt":100.0,"det":false},{"id":1,"x":147.69,"y":362.77,"hdg":1.722,"batt":100.0,"det":false},{"id":2,"x":247.69,"y":362.77,"hdg":1.722,"batt":100.0,"det":false},{"id":3,"x":347.69,"y":362.77,"hdg":1.722,"batt":100.0,"det":false}]}
-{"type":"step","ep":29,"step":118,"t":118.00,"coverage":0.3609,"drones":[{"id":0,"x":51.80,"y":369.64,"hdg":1.031,"batt":100.0,"det":false},{"id":1,"x":151.80,"y":369.64,"hdg":1.031,"batt":100.0,"det":false},{"id":2,"x":251.80,"y":369.64,"hdg":1.031,"batt":100.0,"det":false},{"id":3,"x":351.80,"y":369.64,"hdg":1.031,"batt":100.0,"det":false}]}
-{"type":"step","ep":29,"step":119,"t":119.00,"coverage":0.3627,"drones":[{"id":0,"x":58.48,"y":374.03,"hdg":0.581,"batt":100.0,"det":false},{"id":1,"x":158.48,"y":374.03,"hdg":0.581,"batt":100.0,"det":false},{"id":2,"x":258.48,"y":374.03,"hdg":0.581,"batt":100.0,"det":false},{"id":3,"x":358.48,"y":374.03,"hdg":0.581,"batt":100.0,"det":false}]}
-{"type":"episode","ep":29,"mean_return":741.0585,"policy_loss":-107902.2578,"value_loss":731556.4375,"victims_found":0}

v2/crates/ruview-swarm/viz/swarm_viz.html

@@ -1,725 +0,0 @@
-<!DOCTYPE html>
-<!--
-  ruview-swarm — training visualizer (ADR-148)
-  ============================================
-  Single self-contained, dependency-free HTML visualizer for ruview-swarm drone
-  training telemetry. No build step, no CDN, no npm — pure vanilla JS + canvas.
-
-  USAGE: Open this file in a browser. When served over http(s) it auto-fetches the
-  bundled `sample_telemetry.jsonl` sitting next to it (e.g. run
-  `python3 -m http.server` in this directory then open swarm_viz.html). When opened
-  directly via file:// the auto-fetch is blocked by CORS, so just drag a .jsonl
-  telemetry file onto the page or use the file picker. The LEFT panel replays the
-  swarm spatially (drones as oriented triangles, victims as red crosses, a growing
-  coverage heatmap, and detection pulse rings) with play/pause, a step scrubber, and
-  a speed selector; the RIGHT panel draws three auto-scaled line charts (mean return,
-  policy loss, value loss) over the training episodes. The telemetry schema is JSONL:
-  one `meta` line, many `step` lines (spatial replay frames), and many `episode`
-  lines (per-episode training metrics).
--->
-<html lang="en">
-<head>
-<meta charset="utf-8">
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<title>ruview-swarm — training visualizer (ADR-148)</title>
-<style>
-  :root {
-    --bg: #05080a;
-    --panel: #0a1014;
-    --border: #16323a;
-    --cyan: #2ee6e6;
-    --green: #43e07a;
-    --orange: #f6a13c;
-    --red: #ff5a5a;
-    --dim: #5b7178;
-    --text: #cfe9ec;
-  }
-  * { box-sizing: border-box; }
-  html, body {
-    margin: 0; padding: 0;
-    background: var(--bg);
-    color: var(--text);
-    font-family: "SFMono-Regular", "JetBrains Mono", "Cascadia Code", Consolas, "Courier New", monospace;
-    font-size: 13px;
-  }
-  header {
-    padding: 12px 18px;
-    border-bottom: 1px solid var(--border);
-    background: linear-gradient(180deg, #0a141a, #05080a);
-  }
-  header h1 {
-    margin: 0;
-    font-size: 17px;
-    letter-spacing: 0.5px;
-    color: var(--cyan);
-    text-shadow: 0 0 8px rgba(46,230,230,0.35);
-  }
-  header .subtitle {
-    margin-top: 4px;
-    color: var(--dim);
-    font-size: 12px;
-  }
-  header .subtitle b { color: var(--green); }
-  .toolbar {
-    display: flex; align-items: center; gap: 14px; flex-wrap: wrap;
-    padding: 10px 18px;
-    border-bottom: 1px solid var(--border);
-  }
-  .toolbar label { color: var(--dim); }
-  .toolbar input[type=file] {
-    color: var(--text);
-    font-family: inherit; font-size: 12px;
-  }
-  .hint { color: var(--orange); font-size: 12px; }
-  .stage {
-    display: flex; gap: 16px; flex-wrap: wrap;
-    padding: 16px 18px;
-  }
-  .panel {
-    background: var(--panel);
-    border: 1px solid var(--border);
-    border-radius: 6px;
-    padding: 12px;
-  }
-  .panel h2 {
-    margin: 0 0 8px 0;
-    font-size: 12px;
-    text-transform: uppercase;
-    letter-spacing: 1px;
-    color: var(--cyan);
-  }
-  canvas { display: block; background: #04070a; border-radius: 4px; }
-  .controls {
-    display: flex; align-items: center; gap: 10px; flex-wrap: wrap;
-    margin-top: 10px;
-  }
-  .controls button, .controls select {
-    background: #0e1d24;
-    color: var(--cyan);
-    border: 1px solid var(--border);
-    border-radius: 4px;
-    padding: 5px 11px;
-    font-family: inherit; font-size: 12px;
-    cursor: pointer;
-  }
-  .controls button:hover, .controls select:hover { border-color: var(--cyan); }
-  .controls input[type=range] { flex: 1; min-width: 140px; accent-color: var(--cyan); }
-  .readout {
-    margin-top: 8px;
-    color: var(--green);
-    font-size: 12px;
-    min-height: 16px;
-  }
-  .readout .warn { color: var(--orange); }
-</style>
-</head>
-<body>
-<header>
-  <h1>ruview-swarm — training visualizer (ADR-148)</h1>
-  <div class="subtitle" id="subtitle">no telemetry loaded — drop a .jsonl file or use the picker below</div>
-</header>
-
-<div class="toolbar">
-  <label>load telemetry:</label>
-  <input type="file" id="fileInput" accept=".jsonl,.json,.txt">
-  <span class="hint" id="loadHint"></span>
-</div>
-
-<div class="stage">
-  <div class="panel">
-    <h2>spatial swarm replay</h2>
-    <canvas id="replay" width="560" height="560"></canvas>
-    <div class="controls">
-      <button id="playBtn">▶ Play</button>
-      <input type="range" id="scrub" min="0" max="0" value="0">
-      <select id="speedSel">
-        <option value="0.5">0.5×</option>
-        <option value="1" selected>1×</option>
-        <option value="2">2×</option>
-        <option value="4">4×</option>
-      </select>
-    </div>
-    <div class="readout" id="replayReadout">—</div>
-  </div>
-
-  <div class="panel">
-    <h2>training metrics</h2>
-    <canvas id="metrics" width="480" height="560"></canvas>
-    <div class="readout" id="metricsReadout">—</div>
-  </div>
-</div>
-
-<script>
-"use strict";
-(function () {
-  // ---- DOM handles ----
-  var subtitleEl   = document.getElementById("subtitle");
-  var loadHintEl   = document.getElementById("loadHint");
-  var fileInput    = document.getElementById("fileInput");
-  var replayCanvas = document.getElementById("replay");
-  var metricsCanvas= document.getElementById("metrics");
-  var rctx = replayCanvas.getContext("2d");
-  var mctx = metricsCanvas.getContext("2d");
-  var playBtn      = document.getElementById("playBtn");
-  var scrub        = document.getElementById("scrub");
-  var speedSel     = document.getElementById("speedSel");
-  var replayReadout= document.getElementById("replayReadout");
-  var metricsReadout= document.getElementById("metricsReadout");
-
-  // ---- State ----
-  var meta = null;
-  var steps = [];      // step records (sorted by step index)
-  var episodes = [];   // episode records (sorted by ep)
-  var coverageGrid = null;  // accumulated heatmap, GW x GH
-  var GW = 60, GH = 60;     // heatmap resolution
-  var lastBuiltStep = -1;   // highest step index folded into coverageGrid
-
-  var playing = false;
-  var curStep = 0;
-  var stepAccumulator = 0;  // fractional step progress for playback timing
-  var lastFrameTime = 0;
-  var pulses = [];          // detection pulse rings {gx,gy(world), age}
-
-  // ---- Parsing ----
-  function parseTelemetry(text) {
-    var lines = text.split(/\r?\n/);
-    var m = null, st = [], ep = [];
-    for (var i = 0; i < lines.length; i++) {
-      var line = lines[i].trim();
-      if (!line) continue;
-      var obj;
-      try { obj = JSON.parse(line); } catch (e) { continue; } // skip malformed
-      if (!obj || typeof obj !== "object") continue;
-      if (obj.type === "meta") { if (!m) m = obj; }
-      else if (obj.type === "step") { st.push(obj); }
-      else if (obj.type === "episode") { ep.push(obj); }
-    }
-    st.sort(function (a, b) { return (a.step|0) - (b.step|0); });
-    ep.sort(function (a, b) { return (a.ep|0) - (b.ep|0); });
-    return { meta: m, steps: st, episodes: ep };
-  }
-
-  function loadData(text, sourceName) {
-    var parsed = parseTelemetry(text);
-    if (!parsed.meta && parsed.steps.length === 0 && parsed.episodes.length === 0) {
-      loadHintEl.textContent = "no valid telemetry records found in " + (sourceName || "input");
-      return;
-    }
-    meta = parsed.meta || { profile: "unknown", drones: 0, area_w: 100, area_h: 100, victims: [] };
-    steps = parsed.steps;
-    episodes = parsed.episodes;
-
-    // reset playback / heatmap
-    coverageGrid = new Float32Array(GW * GH);
-    lastBuiltStep = -1;
-    pulses = [];
-    curStep = 0;
-    stepAccumulator = 0;
-    playing = false;
-    playBtn.textContent = "▶ Play";
-
-    scrub.min = 0;
-    scrub.max = Math.max(0, steps.length - 1);
-    scrub.value = 0;
-
-    var dc = meta.drones || (steps[0] && steps[0].drones ? steps[0].drones.length : 0);
-    subtitleEl.innerHTML = "profile <b>" + escapeHtml(String(meta.profile)) + "</b> · "
-      + "<b>" + dc + "</b> drones · "
-      + "area <b>" + fmt(meta.area_w) + "×" + fmt(meta.area_h) + "</b> m · "
-      + "<b>" + (meta.victims ? meta.victims.length : 0) + "</b> victims · "
-      + "<b>" + steps.length + "</b> replay steps · "
-      + "<b>" + episodes.length + "</b> episodes";
-    loadHintEl.textContent = "loaded " + (sourceName || "telemetry");
-
-    buildCoverageUpTo(0);
-    drawReplay();
-    drawMetrics();
-  }
-
-  function escapeHtml(s) {
-    return s.replace(/[&<>"']/g, function (c) {
-      return { "&": "&amp;", "<": "&lt;", ">": "&gt;", '"': "&quot;", "'": "&#39;" }[c];
-    });
-  }
-  function fmt(v) { return (typeof v === "number") ? (Math.round(v * 100) / 100) : v; }
-
-  // ---- Coordinate mapping (world metres -> canvas px), maintaining aspect ratio ----
-  function replayTransform() {
-    var W = replayCanvas.width, H = replayCanvas.height;
-    var pad = 28;
-    var aw = (meta && meta.area_w) || 100;
-    var ah = (meta && meta.area_h) || 100;
-    var availW = W - pad * 2, availH = H - pad * 2;
-    var scale = Math.min(availW / aw, availH / ah);
-    var drawW = aw * scale, drawH = ah * scale;
-    var offX = (W - drawW) / 2;
-    var offY = (H - drawH) / 2;
-    return {
-      scale: scale, offX: offX, offY: offY, drawW: drawW, drawH: drawH,
-      // world X -> screen X, world Y -> screen Y (Y grows downward on screen)
-      x: function (wx) { return offX + wx * scale; },
-      y: function (wy) { return offY + wy * scale; }
-    };
-  }
-
-  // ---- Coverage heatmap accumulation ----
-  function foldStepIntoGrid(rec) {
-    if (!rec || !rec.drones) return;
-    var aw = (meta && meta.area_w) || 100;
-    var ah = (meta && meta.area_h) || 100;
-    for (var i = 0; i < rec.drones.length; i++) {
-      var d = rec.drones[i];
-      var gx = Math.floor((d.x / aw) * GW);
-      var gy = Math.floor((d.y / ah) * GH);
-      if (gx < 0) gx = 0; if (gx >= GW) gx = GW - 1;
-      if (gy < 0) gy = 0; if (gy >= GH) gy = GH - 1;
-      // splat a small 3x3 footprint to suggest sensor swath
-      for (var ox = -1; ox <= 1; ox++) {
-        for (var oy = -1; oy <= 1; oy++) {
-          var cx = gx + ox, cy = gy + oy;
-          if (cx < 0 || cx >= GW || cy < 0 || cy >= GH) continue;
-          var w = (ox === 0 && oy === 0) ? 0.6 : 0.18;
-          var idx = cy * GW + cx;
-          var v = coverageGrid[idx] + w;
-          coverageGrid[idx] = v > 1 ? 1 : v;
-        }
-      }
-    }
-  }
-
-  // Rebuild heatmap so it reflects all steps 0..target (handles scrubbing backwards).
-  function buildCoverageUpTo(target) {
-    if (!coverageGrid) return;
-    if (target < lastBuiltStep) {
-      // scrubbed backwards — rebuild from scratch
-      coverageGrid.fill(0);
-      lastBuiltStep = -1;
-    }
-    for (var i = lastBuiltStep + 1; i <= target && i < steps.length; i++) {
-      foldStepIntoGrid(steps[i]);
-    }
-    if (target > lastBuiltStep) lastBuiltStep = Math.min(target, steps.length - 1);
-  }
-
-  // ---- Drawing: LEFT replay panel ----
-  function drawReplay() {
-    var W = replayCanvas.width, H = replayCanvas.height;
-    rctx.clearRect(0, 0, W, H);
-    rctx.fillStyle = "#04070a";
-    rctx.fillRect(0, 0, W, H);
-
-    var t = replayTransform();
-
-    // coverage heatmap (faint cyan cells)
-    if (coverageGrid) {
-      var cellW = t.drawW / GW, cellH = t.drawH / GH;
-      for (var gy = 0; gy < GH; gy++) {
-        for (var gx = 0; gx < GW; gx++) {
-          var v = coverageGrid[gy * GW + gx];
-          if (v <= 0) continue;
-          rctx.fillStyle = "rgba(46,230,230," + (0.07 + v * 0.34).toFixed(3) + ")";
-          rctx.fillRect(t.offX + gx * cellW, t.offY + gy * cellH, cellW + 0.5, cellH + 0.5);
-        }
-      }
-    }
-
-    // grid lines
-    rctx.strokeStyle = "rgba(70,120,130,0.18)";
-    rctx.lineWidth = 1;
-    var divisions = 8;
-    for (var i = 0; i <= divisions; i++) {
-      var fx = t.offX + (t.drawW * i / divisions);
-      var fy = t.offY + (t.drawH * i / divisions);
-      rctx.beginPath(); rctx.moveTo(fx, t.offY); rctx.lineTo(fx, t.offY + t.drawH); rctx.stroke();
-      rctx.beginPath(); rctx.moveTo(t.offX, fy); rctx.lineTo(t.offX + t.drawW, fy); rctx.stroke();
-    }
-
-    // area border
-    rctx.strokeStyle = "rgba(46,230,230,0.6)";
-    rctx.lineWidth = 1.5;
-    rctx.strokeRect(t.offX, t.offY, t.drawW, t.drawH);
-
-    // axis labels
-    rctx.fillStyle = "#5b7178";
-    rctx.font = "10px monospace";
-    rctx.textAlign = "left";
-    rctx.fillText("0", t.offX + 2, t.offY + t.drawH + 12);
-    rctx.textAlign = "right";
-    rctx.fillText(fmt(meta ? meta.area_w : 0) + "m (x)", t.offX + t.drawW, t.offY + t.drawH + 12);
-    rctx.save();
-    rctx.translate(t.offX - 6, t.offY + t.drawH);
-    rctx.rotate(-Math.PI / 2);
-    rctx.textAlign = "left";
-    rctx.fillText(fmt(meta ? meta.area_h : 0) + "m (y)", 0, 0);
-    rctx.restore();
-
-    // victims
-    if (meta && meta.victims) {
-      for (var v = 0; v < meta.victims.length; v++) {
-        var vx = t.x(meta.victims[v][0]), vy = t.y(meta.victims[v][1]);
-        rctx.strokeStyle = "#ff5a5a";
-        rctx.lineWidth = 2;
-        var s = 7;
-        rctx.beginPath();
-        rctx.moveTo(vx - s, vy); rctx.lineTo(vx + s, vy);
-        rctx.moveTo(vx, vy - s); rctx.lineTo(vx, vy + s);
-        rctx.stroke();
-        rctx.beginPath();
-        rctx.arc(vx, vy, s + 2, 0, Math.PI * 2);
-        rctx.strokeStyle = "rgba(255,90,90,0.5)";
-        rctx.lineWidth = 1;
-        rctx.stroke();
-        rctx.fillStyle = "#ff8a8a";
-        rctx.font = "10px monospace";
-        rctx.textAlign = "left";
-        rctx.fillText("victim " + v, vx + s + 4, vy - 4);
-      }
-    }
-
-    // detection pulses (expanding rings)
-    for (var p = pulses.length - 1; p >= 0; p--) {
-      var pu = pulses[p];
-      var px = t.x(pu.wx), py = t.y(pu.wy);
-      var r = 6 + pu.age * 40;
-      var alpha = 1 - pu.age;
-      if (alpha <= 0) { pulses.splice(p, 1); continue; }
-      rctx.beginPath();
-      rctx.arc(px, py, r, 0, Math.PI * 2);
-      rctx.strokeStyle = "rgba(67,224,122," + (alpha * 0.8).toFixed(3) + ")";
-      rctx.lineWidth = 2;
-      rctx.stroke();
-    }
-
-    // drones
-    var rec = steps[curStep];
-    var activeDetections = 0;
-    if (rec && rec.drones) {
-      for (var di = 0; di < rec.drones.length; di++) {
-        var d = rec.drones[di];
-        var dx = t.x(d.x), dy = t.y(d.y);
-        var detecting = !!d.det;
-        if (detecting) activeDetections++;
-
-        // oriented triangle along hdg (screen Y down => use hdg directly)
-        var hdg = (typeof d.hdg === "number") ? d.hdg : 0;
-        var size = 9;
-        var col = detecting ? "#b6ff3c" : "#2ee6e6";
-        rctx.save();
-        rctx.translate(dx, dy);
-        rctx.rotate(hdg);
-        rctx.beginPath();
-        rctx.moveTo(size, 0);
-        rctx.lineTo(-size * 0.7, size * 0.6);
-        rctx.lineTo(-size * 0.4, 0);
-        rctx.lineTo(-size * 0.7, -size * 0.6);
-        rctx.closePath();
-        rctx.fillStyle = col;
-        rctx.globalAlpha = detecting ? 1 : 0.92;
-        rctx.fill();
-        rctx.globalAlpha = 1;
-        if (detecting) {
-          rctx.strokeStyle = "rgba(182,255,60,0.9)";
-          rctx.lineWidth = 1;
-          rctx.stroke();
-        }
-        rctx.restore();
-
-        // id label
-        rctx.fillStyle = col;
-        rctx.font = "10px monospace";
-        rctx.textAlign = "center";
-        rctx.fillText(String(d.id), dx, dy - 13);
-
-        // battery bar under drone
-        var bw = 18, bh = 3;
-        var bx = dx - bw / 2, by = dy + 11;
-        var batt = (typeof d.batt === "number") ? Math.max(0, Math.min(100, d.batt)) : 0;
-        rctx.fillStyle = "rgba(255,255,255,0.12)";
-        rctx.fillRect(bx, by, bw, bh);
-        // green -> red interpolation by battery
-        var g = Math.round(2.24 * batt);          // 0..224
-        var rr = Math.round(255 - 1.9 * batt);    // 255..65
-        rctx.fillStyle = "rgb(" + rr + "," + g + ",60)";
-        rctx.fillRect(bx, by, bw * (batt / 100), bh);
-      }
-    }
-
-    // step readout
-    var cov = rec && typeof rec.coverage === "number" ? rec.coverage : 0;
-    var total = steps.length;
-    if (total === 0) {
-      replayReadout.innerHTML = '<span class="warn">no replay steps in telemetry</span>';
-    } else {
-      replayReadout.textContent =
-        "step " + (curStep + 1) + "/" + total +
-        " · ep " + (rec ? rec.ep : "—") +
-        " · t=" + (rec && typeof rec.t === "number" ? rec.t.toFixed(2) : "—") +
-        " · coverage " + (cov * 100).toFixed(1) + "%" +
-        " · active detections " + activeDetections;
-    }
-  }
-
-  // ---- Drawing: RIGHT metrics panel ----
-  function lineChart(x, y, w, h, title, color, values) {
-    // axes box
-    mctx.strokeStyle = "rgba(70,120,130,0.4)";
-    mctx.lineWidth = 1;
-    mctx.strokeRect(x, y, w, h);
-
-    mctx.fillStyle = color;
-    mctx.font = "11px monospace";
-    mctx.textAlign = "left";
-    mctx.fillText(title, x + 4, y - 5);
-
-    if (!values || values.length === 0) {
-      mctx.fillStyle = "#5b7178";
-      mctx.fillText("(no data)", x + w / 2 - 28, y + h / 2);
-      return;
-    }
-
-    var min = Infinity, max = -Infinity;
-    for (var i = 0; i < values.length; i++) {
-      var v = values[i];
-      if (typeof v !== "number" || !isFinite(v)) continue;
-      if (v < min) min = v;
-      if (v > max) max = v;
-    }
-    if (!isFinite(min)) { min = 0; max = 1; }
-    if (min === max) { min -= 1; max += 1; }
-    var range = max - min;
-
-    var n = values.length;
-    function px(i) { return x + (n === 1 ? w / 2 : (i / (n - 1)) * w); }
-    function py(v) { return y + h - ((v - min) / range) * h; }
-
-    // zero line if it falls within range
-    if (min < 0 && max > 0) {
-      var zy = py(0);
-      mctx.strokeStyle = "rgba(120,140,150,0.25)";
-      mctx.setLineDash([3, 3]);
-      mctx.beginPath(); mctx.moveTo(x, zy); mctx.lineTo(x + w, zy); mctx.stroke();
-      mctx.setLineDash([]);
-    }
-
-    // the line
-    mctx.strokeStyle = color;
-    mctx.lineWidth = 1.6;
-    mctx.beginPath();
-    var started = false;
-    for (var j = 0; j < n; j++) {
-      var vv = values[j];
-      if (typeof vv !== "number" || !isFinite(vv)) continue;
-      var X = px(j), Y = py(vv);
-      if (!started) { mctx.moveTo(X, Y); started = true; }
-      else mctx.lineTo(X, Y);
-    }
-    mctx.stroke();
-
-    // latest marker dot
-    var lastV = values[n - 1];
-    if (typeof lastV === "number" && isFinite(lastV)) {
-      mctx.fillStyle = color;
-      mctx.beginPath();
-      mctx.arc(px(n - 1), py(lastV), 3.2, 0, Math.PI * 2);
-      mctx.fill();
-    }
-
-    // min/max annotations
-    mctx.fillStyle = "#5b7178";
-    mctx.font = "9px monospace";
-    mctx.textAlign = "right";
-    mctx.fillText(fmtNum(max), x + w - 3, y + 10);
-    mctx.fillText(fmtNum(min), x + w - 3, y + h - 3);
-    // episode axis labels
-    mctx.textAlign = "left";
-    mctx.fillText("ep 0", x + 2, y + h + 11);
-    mctx.textAlign = "right";
-    mctx.fillText("ep " + (n - 1), x + w, y + h + 11);
-  }
-
-  function fmtNum(v) {
-    if (!isFinite(v)) return "—";
-    var a = Math.abs(v);
-    if (a >= 1000) return v.toFixed(0);
-    if (a >= 1) return v.toFixed(1);
-    return v.toFixed(3);
-  }
-
-  function drawMetrics() {
-    var W = metricsCanvas.width, H = metricsCanvas.height;
-    mctx.clearRect(0, 0, W, H);
-    mctx.fillStyle = "#04070a";
-    mctx.fillRect(0, 0, W, H);
-
-    // legend
-    mctx.font = "10px monospace";
-    mctx.textAlign = "left";
-    var legend = [["mean return", "#43e07a"], ["policy loss", "#f6a13c"], ["value loss", "#ff5a5a"]];
-    var lx = 14;
-    for (var l = 0; l < legend.length; l++) {
-      mctx.fillStyle = legend[l][1];
-      mctx.fillRect(lx, 8, 9, 9);
-      mctx.fillStyle = "#cfe9ec";
-      mctx.fillText(legend[l][0], lx + 13, 16);
-      lx += mctx.measureText(legend[l][0]).width + 36;
-    }
-
-    var ret = episodes.map(function (e) { return e.mean_return; });
-    var pol = episodes.map(function (e) { return e.policy_loss; });
-    var val = episodes.map(function (e) { return e.value_loss; });
-
-    var marginL = 14, marginR = 14, top = 38, gap = 30;
-    var chartW = W - marginL - marginR;
-    var chartH = (H - top - gap * 3) / 3;
-
-    var y0 = top;
-    lineChart(marginL, y0, chartW, chartH, "mean return", "#43e07a", ret);
-    var y1 = y0 + chartH + gap;
-    lineChart(marginL, y1, chartW, chartH, "policy loss", "#f6a13c", pol);
-    var y2 = y1 + chartH + gap;
-    lineChart(marginL, y2, chartW, chartH, "value loss (autoscaled)", "#ff5a5a", val);
-
-    if (episodes.length === 0) {
-      metricsReadout.innerHTML = '<span class="warn">no episode metrics in telemetry</span>';
-    } else {
-      var last = episodes[episodes.length - 1];
-      var found = 0;
-      for (var i = 0; i < episodes.length; i++) {
-        if (typeof episodes[i].victims_found === "number" && episodes[i].victims_found > found)
-          found = episodes[i].victims_found;
-      }
-      metricsReadout.textContent =
-        episodes.length + " episodes · latest ep " + last.ep +
-        " · return " + fmtNum(last.mean_return) +
-        " · policy " + fmtNum(last.policy_loss) +
-        " · value " + fmtNum(last.value_loss) +
-        " · max victims found " + found;
-    }
-  }
-
-  // ---- Playback loop ----
-  function frame(now) {
-    if (playing && steps.length > 1) {
-      if (!lastFrameTime) lastFrameTime = now;
-      var dt = (now - lastFrameTime) / 1000;
-      lastFrameTime = now;
-      var speed = parseFloat(speedSel.value) || 1;
-      var stepsPerSec = 6 * speed; // base playback rate
-      stepAccumulator += dt * stepsPerSec;
-      while (stepAccumulator >= 1) {
-        stepAccumulator -= 1;
-        advanceStep(1);
-        if (curStep >= steps.length - 1) {
-          curStep = steps.length - 1;
-          playing = false;
-          playBtn.textContent = "▶ Play";
-          break;
-        }
-      }
-    } else {
-      lastFrameTime = now;
-    }
-
-    // age pulses
-    for (var i = 0; i < pulses.length; i++) pulses[i].age += 0.03;
-
-    drawReplay();
-    requestAnimationFrame(frame);
-  }
-
-  function advanceStep(delta) {
-    var prev = curStep;
-    curStep += delta;
-    if (curStep < 0) curStep = 0;
-    if (curStep > steps.length - 1) curStep = steps.length - 1;
-    scrub.value = curStep;
-    buildCoverageUpTo(curStep);
-    spawnPulsesForStep(curStep);
-  }
-
-  function spawnPulsesForStep(idx) {
-    var rec = steps[idx];
-    if (!rec || !rec.drones) return;
-    for (var i = 0; i < rec.drones.length; i++) {
-      var d = rec.drones[i];
-      if (d.det) pulses.push({ wx: d.x, wy: d.y, age: 0 });
-    }
-  }
-
-  // ---- Controls wiring ----
-  playBtn.addEventListener("click", function () {
-    if (steps.length <= 1) return;
-    playing = !playing;
-    playBtn.textContent = playing ? "❚❚ Pause" : "▶ Play";
-    if (playing && curStep >= steps.length - 1) {
-      // restart from beginning
-      curStep = 0;
-      coverageGrid && coverageGrid.fill(0);
-      lastBuiltStep = -1;
-      pulses = [];
-      buildCoverageUpTo(0);
-      scrub.value = 0;
-    }
-    lastFrameTime = 0;
-  });
-
-  scrub.addEventListener("input", function () {
-    playing = false;
-    playBtn.textContent = "▶ Play";
-    curStep = parseInt(scrub.value, 10) || 0;
-    buildCoverageUpTo(curStep);
-    spawnPulsesForStep(curStep);
-    drawReplay();
-  });
-
-  speedSel.addEventListener("change", function () { lastFrameTime = 0; });
-
-  fileInput.addEventListener("change", function (ev) {
-    var f = ev.target.files && ev.target.files[0];
-    if (!f) return;
-    var reader = new FileReader();
-    reader.onload = function () { loadData(String(reader.result), f.name); };
-    reader.onerror = function () { loadHintEl.textContent = "could not read file"; };
-    reader.readAsText(f);
-  });
-
-  // drag & drop onto the page
-  window.addEventListener("dragover", function (e) { e.preventDefault(); });
-  window.addEventListener("drop", function (e) {
-    e.preventDefault();
-    var f = e.dataTransfer && e.dataTransfer.files && e.dataTransfer.files[0];
-    if (!f) return;
-    var reader = new FileReader();
-    reader.onload = function () { loadData(String(reader.result), f.name); };
-    reader.readAsText(f);
-  });
-
-  // ---- Auto-fetch bundled sample (graceful on file:// CORS failure) ----
-  function tryAutoFetch() {
-    if (typeof fetch !== "function") {
-      loadHintEl.textContent = "drop a .jsonl file or use the picker";
-      return;
-    }
-    fetch("sample_telemetry.jsonl")
-      .then(function (r) {
-        if (!r.ok) throw new Error("status " + r.status);
-        return r.text();
-      })
-      .then(function (text) { loadData(text, "sample_telemetry.jsonl"); })
-      .catch(function () {
-        loadHintEl.textContent = "auto-load blocked (file://) — drop a .jsonl file or use the picker";
-        // draw empty frames so canvases aren't blank
-        drawReplay();
-        drawMetrics();
-      });
-  }
-
-  // boot
-  drawReplay();
-  drawMetrics();
-  tryAutoFetch();
-  requestAnimationFrame(frame);
-})();
-</script>
-</body>
-</html>

v2/crates/wifi-densepose-desktop/capabilities/default.json

@@ -4,8 +4,6 @@
   "windows": ["main"],
   "permissions": [
     "core:default",
-    "shell:allow-execute",
-    "shell:allow-open",
     "dialog:allow-open",
     "dialog:allow-save"
   ]

v2/crates/wifi-densepose-desktop/gen/schemas/capabilities.json

@@ -1 +1 @@
-{"default":{"identifier":"default","description":"RuView default capability set","local":true,"windows":["main"],"permissions":["core:default","shell:allow-execute","shell:allow-open","dialog:allow-open","dialog:allow-save"]}}
+{"default":{"identifier":"default","description":"RuView default capability set","local":true,"windows":["main"],"permissions":["core:default","dialog:allow-open","dialog:allow-save"]}}

v2/crates/wifi-densepose-desktop/src/commands/discovery.rs

@@ -430,6 +430,35 @@ fn is_esp32_compatible(vid: u16, pid: u16) -> bool {
     false
 }
 
+/// Validate WiFi credentials before they are interpolated into a
+/// newline-delimited serial command protocol.
+///
+/// The ESP32 firmware accepts line-oriented commands such as
+/// `wifi_config <ssid> <password>\r\n`. Because the SSID and password
+/// arrive from the webview (untrusted) and are concatenated directly into
+/// those command strings, a control character (`\r`, `\n`, or NUL) embedded
+/// in either field would let a malicious caller terminate the current line
+/// early and inject an arbitrary follow-up command (e.g. `reboot`, `erase`).
+///
+/// Enforce the IEEE 802.11 / WPA2 bounds and reject any control characters:
+/// - SSID: 1-32 bytes, no control characters
+/// - Password: 8-63 bytes (WPA2 PSK ASCII range), no control characters
+fn validate_wifi_credentials(ssid: &str, password: &str) -> Result<(), String> {
+    if ssid.is_empty() || ssid.len() > 32 {
+        return Err("SSID must be 1-32 characters".into());
+    }
+    if password.len() < 8 || password.len() > 63 {
+        return Err("WiFi password must be 8-63 characters".into());
+    }
+    if ssid.chars().any(|c| c.is_control()) {
+        return Err("SSID must not contain control characters".into());
+    }
+    if password.chars().any(|c| c.is_control()) {
+        return Err("WiFi password must not contain control characters".into());
+    }
+    Ok(())
+}
+
 /// Configure WiFi credentials on an ESP32 via serial port.
 ///
 /// Sends WiFi credentials to the ESP32 using a simple serial protocol.
@@ -443,6 +472,10 @@ pub async fn configure_esp32_wifi(
     use std::io::{Read, Write};
     use std::time::Duration;
 
+    // Reject control characters / out-of-range lengths before the credentials
+    // are spliced into the line-oriented serial command protocol below.
+    validate_wifi_credentials(&ssid, &password)?;
+
     tracing::info!("Configuring WiFi on port: {}", port);
 
     // Open serial port
@@ -549,6 +582,37 @@ mod tests {
         assert_eq!(node.tdm_total, Some(4));
     }
 
+    #[test]
+    fn test_validate_wifi_credentials_accepts_valid() {
+        assert!(validate_wifi_credentials("MyNetwork", "password123").is_ok());
+        // Boundary: 32-char SSID, 63-char password are allowed.
+        assert!(validate_wifi_credentials(&"A".repeat(32), &"B".repeat(63)).is_ok());
+        // Boundary: 8-char password (WPA2 minimum) is allowed.
+        assert!(validate_wifi_credentials("net", "12345678").is_ok());
+    }
+
+    #[test]
+    fn test_validate_wifi_credentials_rejects_injection() {
+        // Newline/CR in SSID would terminate the serial command line early and
+        // let the caller inject a follow-up firmware command. Must be rejected.
+        assert!(validate_wifi_credentials("net\r\nreboot", "password123").is_err());
+        assert!(validate_wifi_credentials("net\ninjected", "password123").is_err());
+        // Same vector via the password field.
+        assert!(validate_wifi_credentials("net", "pass\r\nerase_nvs").is_err());
+        // Embedded NUL.
+        assert!(validate_wifi_credentials("net", "pass\0word1").is_err());
+    }
+
+    #[test]
+    fn test_validate_wifi_credentials_rejects_out_of_range() {
+        // Empty / over-length SSID.
+        assert!(validate_wifi_credentials("", "password123").is_err());
+        assert!(validate_wifi_credentials(&"A".repeat(33), "password123").is_err());
+        // Too-short / too-long password (WPA2 PSK bounds).
+        assert!(validate_wifi_credentials("net", "short").is_err());
+        assert!(validate_wifi_credentials("net", &"B".repeat(64)).is_err());
+    }
+
     #[test]
     fn test_is_esp32_compatible() {
         // CP2102

v2/crates/wifi-densepose-engine/Cargo.toml

@@ -15,8 +15,8 @@ wifi-densepose-ruvector = { version = "0.3.0", path = "../wifi-densepose-ruvecto
 # bfld is no_std by default; the privacy CONTROL PLANE (PrivacyModeRegistry) is
 # std-gated, so request std explicitly even under a workspace --no-default-features build.
 wifi-densepose-bfld = { version = "0.3.0", path = "../wifi-densepose-bfld", features = ["std"] }
-wifi-densepose-worldgraph = { version = "0.3.0", path = "../wifi-densepose-worldgraph" }
-wifi-densepose-geo = { version = "0.1.0", path = "../wifi-densepose-geo" }
+wifi-densepose-worldgraph = { version = "0.3.0", path = "../worldgraph/wifi-densepose-worldgraph" }
+wifi-densepose-geo = { version = "0.1.0", path = "../worldgraph/wifi-densepose-geo" }
 # Deterministic witness over the trust decision (ADR-137 §2.7 / ADR-028).
 blake3 = { version = "1.5", default-features = false }
 # Dynamic min-cut over the live mesh coupling graph (mesh_guard.rs):