ruvnet--RuView

mirror of https://github.com/ruvnet/RuView synced 2026-06-16 11:23:19 +00:00

Author	SHA1	Message	Date
ruv	ab1c90c106	merge: main into adr-110-esp32c6 — resolve lib.rs / esp32_parser / tracker_bridge conflicts 3 conflict points, all clean resolutions: v2/crates/wifi-densepose-hardware/src/lib.rs Conflict 1: mod declarations. HEAD added `pub mod sync_packet;` (iter 14). main re-ordered the existing mods alphabetically. Resolution: take main's ordering + append sync_packet at the end. Conflict 2: re-exports. HEAD added `pub use sync_packet::{SyncPacket, …}` block (iter 14). main moved bridge::CsiData earlier. Resolution: keep main's CsiData position; add my sync_packet re-export immediately before the radio_ops re-export. v2/crates/wifi-densepose-hardware/src/esp32_parser.rs HEAD has ADR-110 byte 18-19 PpduType + Adr018Flags parsing (iter 14). main still has the pre-ADR-110 "Reserved (offset 18, 2 bytes)" skip. Resolution: take HEAD — main hasn't pulled in ADR-110 work yet, that's exactly why this PR exists. v2/crates/wifi-densepose-sensing-server/src/tracker_bridge.rs HEAD has my iter-35 import cleanup (use { TrackLifecycleState, TrackId, NUM_KEYPOINTS }). main has the equivalent cleanup with a different import ordering (use { TrackId, TrackLifecycleState, NUM_KEYPOINTS }) + the pose_tracker::PoseTracker import on the line above. Resolution: take main's version — same end state, no behavioral difference, less diff churn. Verification: cargo check -p wifi-densepose-hardware -p wifi-densepose-sensing-server --no-default-features → green cargo test -p wifi-densepose-hardware --no-default-features --lib sync_packet → 15/15 passed (122 filtered) The 38-iter ADR-110 work is intact post-merge. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:34:29 -04:00
ruv	a11537c00c	docs(branch-state): /loop + /loop-worker lessons from the 38-iter ADR-110 sprint Iter 39 — captures the 8 concrete lessons the SOTA /loop sprint learned the hard way (cross-branch checkout incidents in iter 17-19, silent absorption of foreign-branch Cargo.toml work in iter 18 → revert in `ca2059b07`, fuzz-target stub gap in iter 11 → CI fail discovered in iter 38). Future /loop or /loop-worker runs against THIS repo should read these before kicking off a long autonomous sprint. Key recommendations: 1. git branch --show-current at the start of every iter 2. git diff --cached before every commit after a branch switch 3. Document sibling-region ownership in this file 4. Extract pure helpers before committing inline mutations (sync_snapshot, apply_sync_packet, fleet_role_counts patterns) 5. Cross-language wire-format pin in BOTH languages at the SAME iter 6. Helper tests > integration tests when state is heavy 7. Add fuzz stubs in the same commit as the firmware symbol they mirror (iter 38 caught c6_sync_espnow_is_valid this way) 8. Reserve irreversible checkpoints (tag, release, PR ready) for iters with surplus confidence from prior CI evidence Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:22:42 -04:00
ruv	a036d6c27d	fix(fuzz): stub c6_sync_espnow_is_valid for the fuzz-harness link path Iter 38 — CI guard fix. The Firmware QEMU Tests (ADR-061) Fuzz Testing Layer 6 job was failing on PR #764 with: /usr/bin/ld: csi_collector.c:229: undefined reference to `c6_sync_espnow_is_valid' clang: error: linker command failed with exit code 1 Iter 11's csi_collector.c byte 19 bit 4 wire-fix added the OR'd call to c6_sync_espnow_is_valid(), but the fuzz target only links csi_collector.c against test/stubs/esp_stubs.c — not the real c6_sync_espnow.c implementation. The fuzz harness needed a stub. Fix: append a 1-line stub to esp_stubs.c that returns false. This matches the c6_timesync.h inline-fallback pattern: under non-ESP-NOW fuzz inputs the bit-4 sync-valid flag stays 0, which is the natural fuzz semantic. GHCI run that surfaced the bug: 26338405979 — Fuzz Testing (ADR-061 Layer 6) step. Next push will exercise the fix. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:19:45 -04:00
ruv	9c49ff1a38	feat(adr-110): fleet cardinality gauge wifi_densepose_mesh_node_total Iter 37 — adds a fleet-summary gauge to the iter-36 Prometheus exposition. Ops dashboards now answer "how many leaders / followers / no-sync nodes are there right now" in one scrape, without having to scrape every per-node series and aggregate client-side. # HELP wifi_densepose_mesh_node_total Per-state node count across the fleet # TYPE wifi_densepose_mesh_node_total gauge wifi_densepose_mesh_node_total{state="leader"} 1 wifi_densepose_mesh_node_total{state="follower"} 2 wifi_densepose_mesh_node_total{state="no_sync"} 0 - leader / follower split derived from snapshot.is_leader - no_sync = total_nodes_in_state - nodes_with_snapshot (so a node that has sent CSI frames but never a sync packet shows up here, which is what an operator wants to alert on) Implementation factored as a free function `fleet_role_counts` so the math is testable without spinning up the axum handler. Same pattern iter 18 (update_csi_fps_ema) and iter 30 (sync_snapshot) used. Test added (9/9 sync_snapshot_helper_tests now green): fleet_role_counts_classifies_correctly Three cases: - empty fleet → (0, 0) - 1 leader + 2 followers → (1, 2) - all-leaders edge case → (2, 0) (election prevents this in practice but the gauge math must still be consistent) Useful Grafana queries this unlocks: - sum(wifi_densepose_mesh_node_total{state="follower"}) → total reachable follower count - wifi_densepose_mesh_node_total{state="no_sync"} > 0 → alert when any node has dropped off the mesh Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:08:16 -04:00
ruv	74eb09f604	feat(adr-110): Prometheus exposition endpoint /api/v1/mesh/metrics Iter 36 — Grafana / Home Assistant Prometheus integration / Cognitum Seed observability stack can now scrape mesh state directly with no JSON-to-metric translation layer. Endpoint: GET /api/v1/mesh/metrics → text/plain (Prometheus exposition format v0.0.4). Eight gauges, one per NodeSyncSnapshot field, labeled by node: wifi_densepose_mesh_offset_us{node="N"} <signed-int> wifi_densepose_mesh_is_leader{node="N"} 0\|1 wifi_densepose_mesh_is_valid{node="N"} 0\|1 wifi_densepose_mesh_smoothed{node="N"} 0\|1 wifi_densepose_mesh_sequence{node="N"} <u32> wifi_densepose_mesh_csi_fps{node="N"} <float> wifi_densepose_mesh_csi_fps_samples{node="N"} <u32> wifi_densepose_mesh_staleness_ms{node="N"} <u64> Each metric carries the standard `# HELP` + `# TYPE` headers before its series block, exactly the format Prometheus + most scrape-format implementations expect. Implementation reuses iter-30's `NodeState::sync_snapshot()` as the single source of truth — same data the JSON endpoints emit, just text-formatted with `{node=...}` labels. Nodes without a fresh sync are absent (Prometheus handles missing series natively). Test added (8/8 sync_snapshot_helper_tests now green): bool_metric_returns_zero_or_one_as_text Pins the Prometheus convention that boolean gauges emit "0" or "1" literally, never "false"/"true" — if anyone refactors the helper to format!("{b}"), Prometheus would 400-reject the scrape; this test catches that drift before production. User-guide REST table updated with the new endpoint. Grafana / HA scrape config: - job_name: wifi-densepose-mesh scrape_interval: 5s metrics_path: /api/v1/mesh/metrics static_configs: - targets: ['localhost:3000'] Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 15:03:51 -04:00
ruv	883765150c	chore(sensing-server): drop unused tracker_bridge imports Iter 35 — every cargo check / cargo test since iter 15 has emitted the same warning: warning: unused imports: `KeypointState`, `PoseTrack`, and `self` --> crates/wifi-densepose-sensing-server/src/tracker_bridge.rs:10 The three unused names date from before the bridge was refactored to use the `pose_tracker::PoseTracker` direct import on line 12. Removing them clears the noise without changing any behavior — the file's actual uses (`TrackLifecycleState`, `TrackId`, `NUM_KEYPOINTS`) stay imported via the narrowed `use { ... }` list. After this commit `cargo check -p wifi-densepose-sensing-server` shows only the pre-existing `rvf_container.rs:128 associated function 'new' is never used` warning, which is unrelated to ADR-110 and out of scope for this loop. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:58:41 -04:00
ruv	f6a85fe7db	feat(adr-110): NodeSyncSnapshot.staleness_ms — sync age in milliseconds Iter 34 — adds an optional `staleness_ms` field to the iter-23 NodeSyncSnapshot that exposes (Instant::now() - latest_sync_at). Dashboards / Prometheus exporters / UI badges can now decay sync freshness without re-deriving it from latest_sync_at on the host. Wire compatibility: new field is `#[serde(skip_serializing_if = "Option::is_none")]` so pre-iter-34 clients that strict-parse via serde + deny_unknown_fields are unaffected (default serde_json strategy is to ignore unknown fields anyway). Sensing-server changes: + NodeSyncSnapshot.staleness_ms: Option<u64> + sync_snapshot() populates it via latest_sync_at.elapsed().as_millis() + iter-24 serialization tests now check 8 contract fields, not 7 + new test `snapshot_staleness_ms_tracks_apply_time` pins latest_sync_at to a past Instant and asserts the snapshot reports ~750 ms staleness with ±500 ms tolerance for scheduler delay User-guide updates: + REST/WebSocket field table grows a `staleness_ms` row with the UI-rendering thresholds (fade at 5 s, drop at 9 s to match the firmware's VALID_WINDOW_MS-derived gate). Tests passing: sync_snapshot_helper_tests: 7/7 node_sync_snapshot_serialization_tests: 3/3 (8-field assertion green) Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:54:21 -04:00
ruv	bea7edee1f	test(adr-110): lock the 9-second staleness gate on mesh_aligned_us_for_csi_frame Iter 33 — closes a real test-coverage gap. The iter 17 staleness gate (returns None when latest_sync_at is older than 9 s = 3 × the firmware's VALID_WINDOW_MS) was shipped but never directly tested. A future careless edit changing `from_secs(9)` to e.g. `from_secs(90)` would silently break ADR-029/030 multistatic fusion freshness guarantees. Test (3 assertions, no sleep — uses `Instant::checked_sub` to set latest_sync_at to past values directly): * 1 s old → Some (fresh) * 8 s old → Some (just inside the gate) * 10 s old → None (just outside the gate) If anyone widens or narrows the gate, exactly one of these assertions fires and points at the off-by-one. Total time for the test < 1 ms. sync_snapshot_helper_tests: 6/6 green. Branch-coord clean — main.rs only. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:48:22 -04:00
ruv	8805c8ec0b	test+refactor(adr-110): NodeState::apply_sync_packet + 2 tests for the receive-side dispatch Iter 32 — completes the helper-extraction discipline started in iter 30. The iter 15 inline `ns.latest_sync = Some(sync); ns.latest_sync_at = ...` was the LAST untested receive-side mutation; now it's a named method with 2 tests covering its full state-transition surface. Refactor: Add `NodeState::apply_sync_packet(pkt, now)` taking an Instant so the test can pass deterministic timing. udp_receiver_task now calls the method instead of touching the fields inline — one less place to break the staleness gate. Tests (2 new — sync_snapshot_helper_tests module now at 5 tests): apply_sync_packet_populates_a_fresh_node Mirrors udp_receiver_task's first-packet-from-unknown-node path: asserts latest_sync goes from None → Some, latest_sync_at matches the passed Instant exactly (no clock skew from real Instant::now()), and sync_snapshot() now returns Some (REST 200 OK path lit up). apply_sync_packet_overwrites_older_data Subsequent packets must replace, not accumulate. Asserts sequence, local_us advance, and the staleness clock resets. This is what keeps the §A0.10-smoothed offset tracking the latest beacon rather than drifting with stale state. cargo test sync_snapshot_helper → 5/5 green. Branch-coord clean — no Cargo.toml / cli.rs touched. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:44:25 -04:00
ruv	473c5d11db	docs(adr-110): user-guide REST docs for /api/v1/mesh and /api/v1/nodes/:id/sync Iter 31 — parallels the iter 25 WebSocket sync docs with the matching HTTP surface. Adds 2 rows to the REST API table + a worked "Get fleet mesh state" example showing the sample JSON for two C6 boards (leader + follower) so operators see the leader's near-zero offset alongside the follower's §A0.10-measured 1.16 s delta in the same response. Also covers the 404 paths the iter 29 handlers actually emit: - {"error": "unknown_node", "node_id": N} - {"error": "no_sync", "node_id": N, "hint": "..."} The "hint" field is verbatim so operators searching docs for the string they see in curl output land here. Links back to the existing "Per-node mesh sync (ADR-110)" section for field meanings instead of duplicating them — one source of truth. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:38:57 -04:00
ruv	a07deb9180	test+refactor(adr-110): NodeState::sync_snapshot + 3 helper tests, dedupe 4 call sites Iter 30 — defends the iter 29 REST endpoints + iter 23 WebSocket broadcast with tests, AND deduplicates the four call sites that all built the same NodeSyncSnapshot inline. Refactor: Add `NodeState::sync_snapshot() -> Option<NodeSyncSnapshot>` as the single source of truth. All four call sites simplified: 1. node_sync_endpoint (REST /api/v1/nodes/:id/sync) — 12 → 5 lines 2. mesh_endpoint (REST /api/v1/mesh) — 11 → 3 lines 3. WebSocket vitals-only NodeInfo (line 4284) — 9 → 1 line 4. WebSocket CSI-frame NodeInfo (line 4617) — 9 → 1 line Net: -35 lines, single point of contact for any future schema change. Tests (3 new, all green; brings binary suite to 95+): fresh_node_with_no_sync_returns_none Mirrors REST 404 "no_sync" + WebSocket sync omission paths. node_with_latest_sync_produces_correct_snapshot Mirrors REST 200 OK + WebSocket sync field paths. Asserts §A0.10's measured 1_163_565 µs offset survives the helper. snapshot_reflects_leader_state Leader-case shape: is_leader=true, offset≈0 (–7 µs call-stack). These tests cover BOTH REST routes and BOTH WebSocket NodeInfo sites through the shared helper — one test per behavioral path, no axum state plumbing required. cargo check -p ...sensing-server → green. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:36:54 -04:00
ruv	c6a0d5dbf5	feat(adr-110): REST endpoints /api/v1/nodes/:id/sync and /api/v1/mesh Iter 29 — extends the iter 23 WebSocket NodeSyncSnapshot publication with an HTTP surface so non-streaming clients (curl scripts, Home Assistant REST sensors, Prometheus exporters, automation rule probes) can poll mesh state without holding a WebSocket connection. GET /api/v1/nodes/:id/sync 200 → Json(NodeSyncSnapshot) when latest_sync is present 404 → {"error": "unknown_node" \| "no_sync", "node_id": N} — "no_sync" includes a `hint` pointing operators at the "no mesh peer or not v0.6.9+" diagnostic. GET /api/v1/mesh 200 → { "nodes": { "<id>": NodeSyncSnapshot, ... }, "total": N } Nodes without a recent sync are omitted; an empty `nodes` object means no mesh peers reachable. Both handlers reuse the iter 23 NodeSyncSnapshot struct (same JSON shape as the WebSocket broadcast — clients get one schema, two delivery modes). The Path<u8> extractor returns 404 on overflow automatically (axum), so /api/v1/nodes/256/sync gives a clean error. cargo check -p wifi-densepose-sensing-server --no-default-features → green. Curl quick-start (added to operator playbook material in a follow-up): curl http://localhost:3000/api/v1/mesh # full fleet curl http://localhost:3000/api/v1/nodes/9/sync # one node Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:30:14 -04:00
ruv	7eeb265ebc	docs(adr-index): surface ADR-110 review/witness/branch-state docs Iter 28 — the ADR-110 row in the index used to mention only the witness log. Expand it to also link the review guide and branch-state map, plus headline the v0.7.0 firmware release and the §A0.10 measured numbers (99.56% cross-board RX, 104.1 µs smoothed sync stdev) so reviewers see the empirical evidence at glance. Adds the host-decoder summary inline (Python 10 tests + Rust 15 tests + cross-language hex pin) so the test surface is visible without clicking through. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:24:29 -04:00
ruv	9f75ea4092	docs(changelog): Wave 5 entry for iter 13-26 host-side ADR-110 work Iter 27 — captures everything that landed since the Wave 4 v0.6.8 entry: v0.6.9 sync packet emission, v0.7.0 byte-19 bit-4 wire-fix, full Python + Rust decoder API parity (25 unit tests), sensing-server consumes sync packets + applies measured-fps EMA, NodeSyncSnapshot in WebSocket sensing_update JSON (3 serialization tests), user-guide "Per-node mesh sync (ADR-110)" section, branch-coordination docs, 1437-test workspace verification baseline. The CHANGELOG entry references every test count and witness section so reviewers can trace any claim back to a concrete test or §A0.x log entry. No more "see commits" — the changelog states the substantive changes and their evidence. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:23:11 -04:00
ruv	dbcbac1d43	feat(adr-110): Python SyncPacket API parity with Rust (apply_to_local + interpolation) Iter 26 — closes the ABI gap between the Python and Rust SyncPacket decoders. Before this, Python could decode the wire but had no helpers to apply offsets or recover per-frame mesh time; any Python-side tooling (host scripts, replay analysers, notebooks) would have to re-implement the math from scratch and could drift from Rust silently. New methods on the Python SyncPacket dataclass: local_minus_epoch_us() -> int Signed local-vs-mesh offset. Matches Rust byte-for-byte. apply_to_local(local_at_frame_us: int) -> int offset = epoch_us - local_us return local_at_frame_us + offset Identity at local_at_frame_us == self.local_us returns epoch_us. mesh_aligned_us_for_sequence(frame_seq: int, fps_hz: float) -> int Sequence-based interpolation matching Rust's identical method. Includes u32 wraparound handling via masked-subtract — verified against Rust's iter 17 `mesh_aligned_for_sequence_handles_seq_wraparound`. 3 new Python tests (10 total in TestSyncPacketParser, all green in 0.24s): test_apply_to_local_recovers_epoch_at_sync_point Identity at the sync point. Also verifies local_minus_epoch_us() matches §A0.10's measured 1,163,565 µs bench number. test_apply_to_local_preserves_inter_frame_delta Frame arriving 5 s after the sync on the follower's local clock produces mesh time exactly 5 s after sync.epoch_us. test_mesh_aligned_us_for_sequence_matches_rust Cross-language parity with Rust's `end_to_end_sync_decode_then_frame_mesh_recovery` (iter 20): 100 frames after sync.sequence at 20 fps = sync.epoch_us + 5 s. Cross-checks via apply_to_local — both paths must agree. Test count after iter 26: Python TestSyncPacketParser: 10/10 (was 7/7) Rust sync_packet::tests: 15/15 Combined: 25 unit tests defending the SyncPacket contract across the two host language stacks. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:15:28 -04:00
ruv	9924db1c7b	docs(adr-110): document the WebSocket `sync` field in user-guide Iter 25 — converts iter 23's NodeSyncSnapshot from "exists in the JSON" to "documented for UI integrators". Adds a new subsection 'Per-node mesh sync (ADR-110)' under WebSocket Streaming with: - Full sample sensing_update payload showing the optional `sync` object - Field-by-field table (offset_us / is_leader / is_valid / smoothed / sequence / csi_fps_ema / csi_fps_samples) with type, bench-derived reference values, and links back to §A0.10 - Explicit "when sync is omitted" rules — backwards compat for pre-iter-23 UI clients - Rendering recommendations for UI authors (Leader badge / Sync lost / Calibrating / jitter histogram) - Step-by-step recipe for recovering a mesh-aligned timestamp for any CSI frame from its sequence number + the sync snapshot, so ADR-029/030 multistatic consumers have a quick reference The sample JSON values match iter 24's serialization tests byte-for-byte, so the docs and tests can't drift independently. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:10:14 -04:00
ruv	e764504dc5	test(adr-110): lock NodeSyncSnapshot JSON wire contract (iter 24) Iter 24 — ultra-opt for public-API stability. Iter 23 added a new JSON field that UI clients (viz.html, future Tauri desktop, automation) now depend on; this iter locks its exact shape so any future rename / removal fails a named test instead of silently breaking consumers. New module `node_sync_snapshot_serialization_tests` (3 tests, all green): * sync_present_serializes_all_seven_fields Builds NodeInfo with Some(sample_sync), serializes to serde_json::Value, asserts all 7 documented field names exist (offset_us, is_leader, is_valid, smoothed, sequence, csi_fps_ema, csi_fps_samples) and spot-checks numeric values. * sync_absent_omits_the_key_entirely Builds NodeInfo with sync = None, asserts the `sync` JSON key is DROPPED entirely (not emitted as `"sync": null`). This is the backwards-compat contract that lets pre-iter-23 UI clients ignore mesh-aware nodes silently. * sync_round_trips_through_serde to_string / from_str round-trip on a populated NodeInfo recovers every field of the sync sub-object byte-for-byte (modulo float tol). Test infrastructure: pure pure serde_json — no network, no fixtures, no I/O. Adds 92 lines, 0 runtime allocs in the steady path. Branch-coord clean (no Cargo.toml or cli.rs touched). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:05:59 -04:00
ruv	41f28ae85e	feat(adr-110): surface NodeSyncSnapshot in WebSocket sensing_update JSON Iter 23 — converts the iter 1-21 firmware-side mesh substrate from "works internally" to "visible to UI clients". WebSocket sensing_update broadcasts now carry a per-node optional `sync` object exposing the mesh state the iter 15-22 wire and storage capture: { "type": "sensing_update", ... "nodes": [ { "node_id": 9, ... "sync": { "offset_us": 1163565, // §A0.10's measured 1.16 s "is_leader": false, "is_valid": true, "smoothed": true, // EMA seeded "sequence": 20, // §A0.12 pairing key "csi_fps_ema": 10.0, // iter 18 measured rate "csi_fps_samples": 47 // ≥5 means trust csi_fps_ema } } ], ... } `sync` is `Option<NodeSyncSnapshot>` with `#[serde(skip_serializing_if = "Option::is_none")]` so non-mesh paths (multi-BSSID scan / synthetic RSSI / simulation) emit no `sync` key — preserves backwards compatibility with existing UI clients. Plumbed into all four NodeInfo construction sites: 1. multi-BSSID scan path → sync: None 2. synthetic-RSSI fallback → sync: None 3. simulated frame path → sync: None 4. real ESP32 CSI path (line 4528) → sync: snapshot from NodeState 5. ADR-039 vitals-only path (line 4207) → sync: snapshot from NodeState cargo check -p wifi-densepose-sensing-server --no-default-features → green. UI clients (viz.html, future Tauri desktop, downstream automation) can now render leader/follower badges, jitter histograms, and the §A0.10 clock-skew trajectory without any further firmware or aggregator work. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 14:03:22 -04:00
ruv	dc20c87a68	docs(adr-110): branch-state map for ADR-110 ↔ ADR-115 coordination Iter 22 — defensive ultra-opt after iter 17-19 burned ~30 minutes recovering from cross-branch checkouts. Reference card so the next collaborator (or the next /loop) doesn't have to re-derive the layout from git log. Captures: * Branch ownership table (who owns adr-110-esp32c6 vs feat/adr-115-ha-mqtt-matter, what each carries, what to NOT merge) * File-level region map for the two shared files (Cargo.toml + sensing-server/src/main.rs) — the regions are DISJOINT so merges should be clean line-merge with no conflicts * Quick verification commands for either branch * Recovery procedure pointer to iter 18 commit `2997165bc` message Verification baseline pinned in the doc: full v2 cargo workspace test suite at 1437 tests, 0 failures (iter 22 measurement). Anyone running that locally and seeing the same number knows the branch is sane. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:58:08 -04:00
ruv	82be960de5	test(adr-110): cross-language wire-format conformance gate Iter 21 — ultra-opt for protocol correctness across the two production decoders. Pin the same 32-byte canonical hex in both Python and Rust tests; if either decoder drifts from the wire, ONE of the tests starts failing — and it's clear which side moved. Canonical packet: COM9 sync-pkt #1 from §A0.12 live capture, expressed as exact little-endian bytes: 10a111c5 09 01 06 00 magic + node + ver + flags + rsvd f26db70100000000 local_us = 28_798_450 c5aca50100000000 epoch_us = 27_634_885 1400000000000000 sequence = 20 + reserved Python test: archive/v1/tests/unit/test_esp32_binary_parser.py::TestSyncPacketParser ::test_canonical_wire_bytes_match_rust_decoder — decodes the pinned hex, asserts every field including the §A0.10 1,163,565 µs offset. Rust test: v2/crates/wifi-densepose-hardware/src/sync_packet.rs::tests ::canonical_wire_bytes_match_python_decoder — decodes the same bytes, asserts the same fields, then re-encodes via to_bytes() and asserts the round-trip produces the EXACT same 32 bytes. So this also catches drift in the Rust encoder. Test counts after this iter: Rust sync_packet: 15/15 green (was 14) Python SyncPacketParser: 7/7 green (was 6) Branch contract: if a future PR changes the firmware wire format, BOTH tests must be updated atomically with the new canonical hex. CI will gate this naturally. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:52:44 -04:00
ruv	40bd6b81b8	test(adr-110): end-to-end sync decode → frame mesh recovery integration test Iter 20 — defensive ultra-opt: one test that exercises the entire iter 14→17 chain in a single assertion, so any future refactor that breaks the contract surfaces as a single, named regression instead of 14 unit-test diffs to triangulate. 1. firmware emits sync packet (bytes built here as a stand-in) 2. host decodes via SyncPacket::from_bytes — assert round-trip 3. a CSI frame arrives 100 sequences later (≈ 5 s @ 20 fps) 4. mesh_aligned_us_for_sequence recovers the mesh timestamp 5. cross-check: same value via raw apply_to_local Asserts mesh_us == sync.epoch_us + 5_000_000 µs exactly, plus both paths (sequence-interpolation + direct local→mesh) agree byte-for-byte. Result: 14/14 sync_packet tests pass, full wifi-densepose-hardware crate at 136/136 (no regression from iter 1-19). Contract for any ADR-029/030 multistatic fusion consumer is now defended by a test that fails loud if either piece of the chain drifts. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:47:14 -04:00
ruv	898a2d7d9f	feat(adr-110): wire observe_csi_frame_arrival into CSI receive path Iter 19 — without this call, iter 18's EMA fps tracking was dead code because csi_fps_samples stayed 0 forever and mesh_aligned_us_for_csi_frame always fell back to the 20 Hz constant. In udp_receiver_task's parse_esp32_frame branch, replace the bare last_frame_time assignment with NodeState::observe_csi_frame_arrival, which computes dt vs last_frame_time, feeds update_csi_fps_ema (α=1/8), bumps csi_fps_samples, and sets last_frame_time as a side effect (same value the bare assignment did). Effect: after ~5 CSI frames arrive from any node, mesh_aligned_us_for_csi_frame returns interpolated timestamps using the node's actually-observed frame rate instead of the 20 Hz default. Real bench rate was ~10 fps, so this halves the per-frame timestamp error in §A0.12-style multistatic alignment. cargo check -p wifi-densepose-sensing-server --no-default-features → green. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:44:59 -04:00
ruv	0dfa3d46aa	feat(adr-115): P1 — Cargo features + CLI flags for MQTT/Matter/Semantic Adds `mqtt` and `matter` Cargo features (default off) plus 20+ new CLI flags wired through cli.rs per ADR-115 §3.8 / §3.10 / §3.11 / §3.12: - MQTT (HA-DISCO): --mqtt, --mqtt-host/--mqtt-port/--mqtt-username/ --mqtt-password-env/--mqtt-client-id/--mqtt-prefix, TLS controls (--mqtt-tls/--mqtt-ca-file/--mqtt-client-cert/--mqtt-client-key), rate controls (--mqtt-refresh-secs, --mqtt-rate-{vitals,motion,count, rssi,pose}, --mqtt-publish-pose). - Privacy (ADR-106): --privacy-mode strips HR/BR/pose pre-publish. - Matter (HA-FABRIC): --matter, --matter-setup-file, --matter-reset, --matter-vendor-id (dev VID 0xFFF1 per §9.9), --matter-product-id. - Semantic (HA-MIND): --semantic (default ON), thresholds/zones files, --semantic-baseline-window-days, --no-semantic <PRIMITIVE> repeatable. rumqttc 0.24 added as optional dep with rustls (Windows-friendly parity with ureq in this crate). matter-rs deferred to P7 spike per §9.10. 6 unit tests cover defaults, compound flag composition, and repeatable --no-semantic. Tests pass: cargo test -p wifi-densepose-sensing-server --no-default-features cli::tests 6 passed; 0 failed. Branch coordination: this work is on feat/adr-115-ha-mqtt-matter off main, parallel to ADR-110 work on adr-110-esp32c6 (no file overlap). Refs #776 (ADR-115 implementation tracking issue). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:41:38 -04:00
ruv	4705fb5ae8	feat(adr-115): ADR + P1 — MQTT/Matter/Semantic CLI plumbing (refs #776 ) ADR-115 lands the dual-protocol HA integration design: - MQTT auto-discovery (HA-DISCO) carrying full RuView telemetry - Matter Bridge (HA-FABRIC) carrying the standardised subset across Apple Home / Google Home / Alexa / SmartThings / HA - Semantic Automation Primitives (HA-MIND) — 10 v1 inferred states (someone-sleeping, possible-distress, room-active, elderly-anomaly, meeting-in-progress, bathroom-occupied, fall-risk-elevated, bed-exit, no-movement, multi-room-transition) that turn raw signals into HA entities, Matter events, and Apple Home scene triggers — the inference layer that moves RuView from "RF sensing" to "ambient intelligence infrastructure". All 13 §9 open questions ACK'd by maintainer. P1 (this commit) — `mqtt` and `matter` Cargo features (default off) + 20+ new CLI flags wired through cli.rs: - --mqtt / --mqtt-host / --mqtt-port / --mqtt-username / --mqtt-password-env / --mqtt-client-id / --mqtt-prefix / --mqtt-tls / --mqtt-ca-file / --mqtt-client-cert / --mqtt-client-key - --mqtt-refresh-secs / --mqtt-rate-{vitals,motion,count,rssi,pose} / --mqtt-publish-pose - --privacy-mode (ADR-106 primitive-isolation contract) - --matter / --matter-setup-file / --matter-reset / --matter-vendor-id (dev VID 0xFFF1 per §9.9) / --matter-product-id - --semantic (default ON) / --semantic-thresholds-file / --semantic-zones-file / --semantic-baseline-window-days / --no-semantic <PRIMITIVE> (repeatable) 6 unit tests cover: defaults safe (mqtt off, vid=0xFFF1, semantic on), compound flag composition, repeatable --no-semantic. All pass: cargo test -p wifi-densepose-sensing-server --no-default-features cli::tests test result: ok. 6 passed; 0 failed. rumqttc 0.24 added as optional dep (gated behind `mqtt` feature) with rustls instead of openssl for Windows parity with the rest of the workspace. matter-rs intentionally absent until P7 spike validates the SDK choice (§9.10). Coordinates with ADR-110 work (different branch, different files). This branch is feat/adr-115-ha-mqtt-matter off main. ADR-110 work continues on adr-110-esp32c6. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:32:18 -04:00
ruv	ca2059b07f	fix(branch-coord): revert ADR-115 Cargo.toml/cli.rs that slipped into iter 18 Iter 18's commit `2997165bc` accidentally absorbed the ADR-115 agent's uncommitted MQTT/Matter additions (Cargo.toml `rumqttc` dep + [features] block, cli.rs --mqtt CLI flags) into the adr-110-esp32c6 branch during the cross-branch checkout described in that commit's message. The actual iter 18 EMA work in main.rs is correct and stays; this commit restores Cargo.toml + cli.rs to their HEAD~1 (iter 17) state so the ADR-115 agent's stashed `stash@adr115-pending-work` can be popped cleanly back onto their feat/adr-115-ha-mqtt-matter branch without colliding. Net effect on adr-110-esp32c6: - main.rs iter 18 EMA: kept ✓ - 4 fps_ema_tests: still green - Cargo.toml: back to iter-17 state (wifi-densepose-hardware dep only) - cli.rs: back to iter-17 state (no MQTT flags) - Cargo.lock: synced to match The ADR-115 agent can pop their stash on feat/adr-115-ha-mqtt-matter and resume without merging an unrelated branch's ADR-110 work. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:31:58 -04:00
ruv	2997165bc1	feat(adr-110): per-node measured CSI fps + EMA for mesh-time interpolation Iter 18 (after recovery from a cross-branch slip — see commit-history context below). Replaces the hardcoded 20 Hz CSI_FPS_HZ constant in mesh_aligned_us_for_csi_frame with a per-node EMA of observed inter-frame intervals, falling back to 20 Hz until ≥5 samples land. Real bench data (§A0.12 captures) showed the actual CSI rate at ~10 fps because the firmware's CSI_MIN_SEND_INTERVAL_US gate combined with ruv.net's traffic level paces it to that. Using 20 Hz against actual 10 fps inflates Δus 2× and shifts the recovered mesh timestamp by up to the inter-sync interval / 2 = ~1 s. Measured fps fixes that. State on NodeState: csi_fps_ema: f64 — EMA (seeded at 20.0) csi_fps_samples: u32 — counts inter-frame deltas observed API: NodeState::observe_csi_frame_arrival(now) — call once per CSI frame from udp_receiver_task update_csi_fps_ema(prev_fps, dt_sec) -> Option<f64> — free fn, testable mesh_aligned_us_for_csi_frame now uses the measured fps when samples ≥ 5, falls back to 20 Hz otherwise. 4 unit tests (fps_ema_tests module, all passing on the binary): * steady_10hz_converges_toward_10 — 40 samples at 100 ms converge to ±0.1 Hz * steady_20hz_stays_near_20 — 20 samples at 50 ms stay within 0.05 Hz * nonpositive_dt_rejected — dt ≤ 0 returns None * long_gap_rejected_as_implausible — dt > 1 s rejected (likely a dropout) Branch-coordination note: this iter's working tree was briefly applied to feat/adr-115-ha-mqtt-matter by a `git checkout` between iter 17 and iter 18. Stashed the ADR-115 agent's MQTT/Matter Cargo.toml work (`stash@adr115-pending-work`) before switching back here. No code lost. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:30:02 -04:00
ruv	0c311a202b	feat(adr-110): SyncPacket::mesh_aligned_us_for_sequence (interpolation) + NodeState hook Iter 17 — closes the per-frame mesh-time loop for ADR-018 CSI frames that carry no per-frame local_us field (the v1 wire format reserves no slot — see WITNESS-LOG-110 §A0.11). Math: pair the frame's sequence number against the sync packet's sequence high-water + an assumed CSI frame rate. Δframes × 1/fps estimates the node-local delta from the sync, then apply_to_local recovers the mesh epoch. SyncPacket::mesh_aligned_us_for_sequence(frame_seq: u32, fps_hz: f64) -> u64 3 new unit tests (13 total in sync_packet::tests, all green): * mesh_aligned_for_sequence_identity_at_sync_point — at sync.sequence returns sync.epoch_us exactly * mesh_aligned_for_sequence_extrapolates_forward — 20 frames @ 20 fps extrapolates by exactly 1 s * mesh_aligned_for_sequence_handles_seq_wraparound — u32 sequence wrap doesn't jump backward by 2^32 (wrapping_sub guards it) NodeState hook: NodeState::mesh_aligned_us_for_csi_frame(frame_sequence: u32) -> Option<u64> Wraps the SyncPacket method, defaults fps_hz=20.0 (matches the firmware's CSI_MIN_SEND_INTERVAL_US-implied ceiling), enforces the same 9 s staleness gate as mesh_aligned_us. cargo check -p wifi-densepose-sensing-server --no-default-features → green. cargo test -p wifi-densepose-hardware sync_packet → 13/13, 122 filtered. Downstream ADR-029/030 multistatic fusion code can now do: if frame.adr018_flags.ieee802154_sync_valid { if let Some(mesh_us) = ns.mesh_aligned_us_for_csi_frame(frame.sequence) { // pair this frame with frames from sibling nodes by mesh_us } } Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:19:06 -04:00
ruv	df95360e52	feat(adr-110 P10): apply_to_local + NodeState::mesh_aligned_us + full ADR rewrite Iter 16 closes the math loop and updates ADR-110 to reflect the full P1-P10 sprint outcome (per user request). Code (the math layer that converts the iter 15 stored sync into a per-frame mesh-aligned timestamp): wifi-densepose-hardware: SyncPacket::apply_to_local(local_at_frame_us: u64) -> u64 Pure integer math: offset = epoch - local; mesh = local_at_frame + offset. 3 new unit tests (10 total, all green): - apply_to_local_recovers_packet_epoch (identity at the packet's local_us) - apply_to_local_preserves_inter_frame_delta (Δlocal == Δmesh) - apply_to_local_on_leader_is_near_identity (leader offset ≈ 0) wifi-densepose-sensing-server: NodeState::mesh_aligned_us(local_at_frame_us: u64) -> Option<u64> Returns the recovered mesh timestamp using the most-recent sync packet, or None if no sync seen or last one older than 9 s (3× firmware VALID_WINDOW_MS = 9 s staleness gate). cargo check -p wifi-densepose-sensing-server --no-default-features → green ADR-110 substantial rewrite (per user "update adr 110 with details"): - Status line: P1-P10 complete, firmware-side substrate closed at v0.7.0. - Front matter now lists all 4 firmware releases + witness link. - Phase table grows a P10 row capturing the v0.6.8 / v0.6.9 / v0.7.0 arc (EMA smoother + sync packet + bit-4 wire-fix + host crates). - New §4.1 — /loop 5m SOTA sprint summary table (iters 1-16, 4 releases, 17 commits, 13 unit tests, what shipped each iter). - New §4.2 — measured numbers table with 99.56% RX, 104.1 µs smoothed stdev, 3.95x suppression, 1.4 ppm crystal skew, etc — every cell backed by a witness §A0.x entry and a preserved bench log. - New §4.3 — host-side production surface listing (sync_packet.rs + sensing-server NodeState + Python parser, with file paths). - §5 open question on 802.15.4 channel resolved (Kconfig, default ch26 not ch15, with the witness §D1 rationale). - New §6 — explicit scope of what's outside this ADR (multistatic fusion math in ADR-029/030, hardware-gated measurements needing INA / 11ax AP, IDF upstream fixes pending). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:16:11 -04:00
ruv	23fd8ac371	feat(sensing-server): consume ADR-110 §A0.12 sync packets, store per-node Iter 15 — converts the iter 14 SyncPacket decoder from "shipped" to "consumed" by wiring it into the sensing-server UDP receive loop. Wiring: - Cargo.toml gains wifi-densepose-hardware = path = "../wifi-densepose-hardware" to pull in the SyncPacket decoder + SYNC_PACKET_MAGIC dispatch constant. - NodeState gains two new fields: latest_sync: Option<SyncPacket> — the parsed packet latest_sync_at: Option<std::time::Instant> — staleness clock - udp_receiver_task now magic-dispatches every incoming datagram against SYNC_PACKET_MAGIC (0xC511A110) before falling through to the existing ADR-039 vitals / ADR-040 WASM / ADR-018 CSI parsers. Same Option-returning pattern as the other parsers, so future packet types slot in cleanly. When a sync packet arrives: * write-lock state, lookup-or-create NodeState by node_id * stash the SyncPacket + Instant::now() on the node * debug-log node, leader/valid/smoothed flags, sequence, offset_us * continue (don't fall through — we know it's not a CSI frame) Downstream multistatic CSI fusion now has a documented landing pad: any CSI frame with byte 19 bit 4 set looks up the matching NodeState, applies ns.latest_sync.epoch_us + (now_local - ns.latest_sync.local_us) to get a mesh-aligned timestamp. Implementation of that fusion math is the next ADR-029/030 layer (wifi-densepose-signal). Verification: - cargo check -p wifi-densepose-sensing-server --no-default-features → green - cargo test -p wifi-densepose-hardware sync_packet → 7/7 pass, 122 filtered - Zero behavioral change for nodes that don't emit sync packets — the dispatch only fires on magic match. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:11:35 -04:00
ruv	d72944f887	feat(hardware): Rust SyncPacket decoder + 7 unit tests (ADR-110 §A0.12) Iter 14 — moves the v0.7.0 Python stub into the Rust production tree so the sensing-server can decode incoming UDP datagrams by leading magic and apply mesh-aligned timestamps to in-flight CSI frames. Module: v2/crates/wifi-densepose-hardware/src/sync_packet.rs Public surface (re-exported from the crate root): - SyncPacket — 32-byte decoded packet - SyncPacketFlags — bit0=leader, bit1=valid, bit2=smoothed - SYNC_PACKET_MAGIC = 0xC511A110, SYNC_PACKET_SIZE = 32 Tests (all 7 passing, plus 122 existing hardware-crate tests still pass): * follower_typical_packet_roundtrips — reproduces COM9 sync-pkt #1 from §A0.12, including the 1,163,565 µs offset §A0.10 measured * leader_packet_has_local_close_to_epoch — COM12 leader case (flags=0x03, epoch ≈ local, offset = -7 µs call-stack only) * magic_mismatch_is_typed_error * short_packet_is_typed_error * all_flag_combinations_roundtrip — every (leader,valid,smoothed) triple * sync_and_csi_magics_differ — host can dispatch by leading u32 * wire_size_constant_is_correct Uses the existing ParseError variants (InvalidMagic, InsufficientData) so the sensing-server's dispatch code can treat sync-packet decode failures the same way it treats CSI frame decode failures. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:06:08 -04:00
ruv	3a6648c290	test+docs(adr-110): 6 SyncPacketParser tests + README/user-guide for v0.7.0 Iter 13 — solidifies v0.7.0 as a real, reviewable release. Tests (archive/v1/tests/unit/test_esp32_binary_parser.py): - TestSyncPacketParser (6 tests, all passing in 0.27s): * test_follower_typical_packet_roundtrips — matches the COM9-witnessed sync-pkt #1 byte-for-byte, including the 1,163,565 µs offset that §A0.10 measured for the COM9-vs-COM12 boot-time delta * test_leader_packet_has_local_close_to_epoch — COM12 leader case, flags=0x03, epoch ≈ local * test_magic_mismatch_raises — non-sync datagrams don't silently decode * test_short_packet_raises — early error vs silent truncation * test_all_flag_combinations — every (leader, valid, smoothed) triple round-trips independently * test_dispatch_distinguishes_csi_from_sync — CSI vs sync magics differ so a host can dispatch by leading u32 Docs: - README C6 hardware row now headlines v0.7.0 (was v0.6.7), names the measured 99.56% match / 104 µs stdev / 3.95× suppression numbers, and acknowledges the firmware-side ADR-110 substrate closure. - docs/user-guide.md firmware release table now lists v0.7.0 / v0.6.9 / v0.6.8 / v0.6.7 chain with one-liner highlights so 4MB-flash users + multistatic operators know which release brings what. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 13:00:42 -04:00
ruv	d199279caa	release(firmware): v0.7.0-esp32 major — ADR-110 firmware-side substrate closed Marks the end of the firmware-side ADR-110 push. Everything the firmware can deliver toward §B multistatic alignment without hardware-blocked dependencies is shipped, measured, and witnessed: §A0.7–§A0.10 ESP-NOW mesh quantified: 99.43-99.56% cross-board match, 104.1 µs smoothed offset stdev, 1.4 ppm crystal-skew tracking, ≤100 µs alignment target empirically met. §A0.12 32-byte UDP sync packet emits with mesh-aligned epoch + sequence high-water; verified live both boards. §A0.13 (new) bit-4 wire-fix: byte 19 bit 4 sourced from c6_sync_espnow_is_valid() too. Mixed S3+C6 fleets now correctly advertise mesh-sync. Host-side enabler (Python): archive/v1/src/hardware/csi_extractor.py grows SyncPacketParser + SyncPacket dataclass. ESP32BinaryParser docstring acknowledges the sibling sync packet. Sets up wifi-densepose-sensing-server to consume the §A0.12 stream without inventing the parser. Build artifacts (IDF v5.4, both RC=0): S3 8 MB: 1094 KB, 47% partition slack C6 4 MB: 1019 KB, 45% partition slack Tag v0.7.0-esp32. Branch adr-110-esp32c6. PR #764. What remains is outside the firmware: host-side parser wiring, multistatic CSI fusion in wifi-densepose-signal, 11ax-cooperative AP (or future IDF AP-HE API), INA226 for ≤5 µA LP-core. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:56:58 -04:00
ruv	e69572ff99	fix(csi): ADR-018 byte 19 bit 4 now signals ESP-NOW sync too (not just broken 15.4) WITNESS-LOG-110 prior state had byte 19 bit 4 (cross-node sync valid) only being set from c6_timesync_is_valid() — but c6_timesync is the 802.15.4 path that D1 documented as unfixable in IDF v5.4 (rx=0 across every soak we've run). The working transport is c6_sync_espnow (§A0.7, §A0.10: 99.43-99.56% RX cross-board, 104 µs smoothed-offset stdev), yet frames from sync'd nodes had bit 4 cleared because the ESP-NOW path didn't OR into the flag. Fix: also set bit 4 when c6_sync_espnow_is_valid() — the OR semantic means a node signals sync from whichever transport is healthy. Host sees bit 4 set, knows to pair the frame against the most recent sync packet (§A0.12) from this node_id. Side effect: this also enables S3 boards to set bit 4 (c6_sync_espnow works on both targets, c6_timesync is C6-only). So a multi-target mesh of S3+C6 boards now correctly signals cross-node alignment regardless of which chips are in the fleet. Build evidence: C6 image 1019 KB (+16 bytes for the new check), 45% slack unchanged. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:47:06 -04:00
ruv	4e1b62ab4f	release(firmware): v0.6.9-esp32 — sync-packet wired, CONFIG_C6_SYNC_EVERY_N_FRAMES tunable Bundles the iter 8 + iter 9 sync-packet work (§A0.11 + §A0.12) into a shipped release. v0.6.8 didn't carry the sync emission; v0.6.9 closes the loop. What ships: - csi_collector emits a 32-byte UDP sync packet (magic 0xC511A110) every CONFIG_C6_SYNC_EVERY_N_FRAMES CSI callbacks (default 20). - New Kconfig knob lets operators tune cadence from ~0.1 Hz (N=1000) to ~10 Hz (N=1) without rebuilding — sensible defaults for mainstream multistatic at ~2 s sync interval. - Backwards-compatible at the wire level: old aggregators drop the new magic on existing parser mismatch path. Build artifacts (both green on IDF v5.4): - S3 8 MB: 1094 KB, 47% partition slack - C6 4 MB: 1019 KB, 45% partition slack The macro define was renamed from SYNC_EVERY_N_FRAMES to CONFIG_C6_SYNC_EVERY_N_FRAMES so the Kconfig generator wires through. Header guard preserves the default for builds without the kconfig applied. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:41:19 -04:00
ruv	d2effcc6f6	witness(ADR-110 §A0.12): sync-packet wired + verified live on both boards SOTA iter 9 — closes the §A0.11 wiring gap with empirical evidence. Added a diagnostic ESP_LOGI in the sync emit path; flashed both C6 boards; captured 45s parallel serial output. Sync packet generation confirmed live: COM12 (leader, ...00:84): sync-pkt #1 ... node=12 flags=0x03 local_us=28864932 epoch_us=28864939 flags=0x03 = leader+valid, epoch ≈ local (7 µs delta = call-stack elapsed only — leader has no offset by definition) COM9 (follower, ...05:3c): sync-pkt #1 ... node=9 flags=0x06 local_us=28798450 epoch_us=27634885 flags=0x06 = valid+smoothed_used, local-epoch = 1,163,565 µs Matches §A0.10's measured -1.16 s mesh-aligned offset within 285 µs (WiFi MAC TX jitter floor between samples). Cadence: 2.05 s between sync packets — 20 CSI frames at the bench's observed 10 fps rate = exactly the design intent. UDP send returns -1 (sr=-1) because the bench boards are intentionally not associated to a real AP (provisioned to dead SSIDs for the iter 2-8 mesh experiments). No crash, no resource leak in 45s. Once boards hit a routable network, sr becomes the byte count. Wiring gap §A0.11 now CLOSED. Multistatic CSI fusion downstream has a documented protocol to recover mesh-aligned timestamps for every CSI frame: host pairs (node_id, sequence) across the two packet streams. Host-side parser is the natural next layer (wifi-densepose-sensing-server). Build evidence: C6 image 1019 KB (+0.5 KB for the diag log line), 45% partition slack unchanged. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:31:05 -04:00
ruv	6ff155a232	feat(csi): emit ADR-110 §A0.11 sync-packet every 20 CSI frames Closes WITNESS-LOG-110 §A0.11 wiring gap. Adds a separate 32-byte UDP packet (magic 0xC511A110, distinct from the CSI frame magic 0xC5110001) carrying: [0..3] magic 0xC511A110 (LE u32) — CSI-ADR-110 sync packet [4] node_id [5] proto version (0x01) [6] flags: bit0=is_leader, bit1=is_valid, bit2=smoothed_used [7] reserved [8..15] local esp_timer_get_time() (LE u64) [16..23] mesh-aligned epoch (LE u64) = local + EMA-smoothed offset [24..27] high-water sequence number (LE u32) for pairing with CSI frames [28..31] reserved (room for leader_id low32 in a follow-up) Emitted once per 20 CSI frames (≈ 1 Hz at the 20 Hz send-rate gate). Same stream_sender UDP socket as CSI frames — host dispatches by first 4 bytes of each datagram. Backwards compatible: aggregators that don't know about the new magic ignore it (sync packets won't match the CSI parser's magic check, so they're dropped harmlessly by existing receivers). New aggregators pair (node_id, sequence) across the two packet streams to align CSI frames to mesh time. Sets us up for downstream ADR-029/030 multistatic CSI fusion: with the host now able to recover the mesh-aligned epoch from each frame's sequence number, frames from multiple boards can be ordered + fused on a common timeline. Build evidence: C6 image 1019 KB (+1 KB vs v0.6.8 no-sync), 45 % partition slack unchanged. Host-side parser update is a follow-up. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:26:45 -04:00
ruv	503411a8d2	release(firmware): bump to v0.6.8-esp32 — ESP-NOW mesh EMA smoother SOTA iter 7. Tags + ships the firmware that actually has the iter-5/6 EMA path so the GitHub release matches the witness measurements. v0.6.7 binaries on the release predate the EMA work — anyone downloading from the v0.6.7 release would not get the smoothing §A0.10 measured. Build evidence (IDF v5.4, both RC=0): - S3 8 MB: 1093 KB (47 % slack), SHA256 60e3ef907f... - C6 4 MB: 1019 KB (45 % slack), SHA256 feb88d60a0... - Soft-AP and 4 MB S3 variants ship unchanged from v0.6.7; not rebuilt. Wiring gap documented in WITNESS §A0.11: ADR-018 wire format has no timestamp field, so the synced clock value from get_epoch_us() doesn't yet reach CSI frames. Three options outlined (ADR-018 v2 / separate UDP sync packet / out-of-band HTTP probe). Likely landing place is the separate UDP sync packet — keeps the existing ADR-018 contract intact while ADR-029/030 multistatic fusion lights up the substrate. CHANGELOG Wave 4 entry summarises what v0.6.8 ships + the deferred gap so future maintainers don't lose the breadcrumb. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:20:00 -04:00
ruv	e5c3b27daa	witness(ADR-110 §A0.10): EMA suppression quantified — 3.95x, ≤100 µs alignment shipped SOTA iter 6 — the long-soak iter 5 owed. 300 s parallel two-board capture with the iter 5 EMA firmware, 46 converged follower-mode samples. Over the 225 s steady-state window: stdev range drift Q1->Q4 raw 411.5 µs 2245 µs +30.1 µs/min smoothed 104.1 µs 478 µs +27.8 µs/min suppression: 3.95x (stdev), 4.70x (range) The ADR-110 §2.4 ≤100 µs alignment target is now empirically met by the smoothed offset alone — no host-side filter required. Drift is preserved (within 2 µs/min between raw and smoothed), so the EMA tracks real clock skew, not lag behind it. Drift sign + magnitude vary with thermal state across runs (-84 µs/min in §A0.8 iter 4, +30 µs/min here in iter 6 with boards warmer — both within ESP32 ±10 ppm crystal spec). The EMA tracks whichever value applies at any given moment. Throughput: tx=2701, rx=2689, match=2689 → 99.56% cross-board match, zero TX failures. ADR-110 §B sync-substrate status: ≤100 µs multistatic alignment is now measured and shipped, not just designed. Downstream multistatic CSI fusion (ADR-029/030) can treat c6_sync_espnow_get_epoch_us() as a black-box bounded-jitter timestamp source. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:11:17 -04:00
ruv	f41f5fc85b	feat(c6_sync_espnow): EMA-smooth cross-board offset, expose via get_epoch_us SOTA iter 5 — converted the iter 4 ADR-110 §A0.8 closing recommendation ("host-side Kalman / linear fit on the offset trajectory") into a firmware-side, fixed-point EMA so every downstream consumer of c6_sync_espnow_get_epoch_us() gets bounded-jitter timestamps for free. Implementation: * α = 1/8 (Q3.3 shift = 3), ≈8-sample effective window at the 10 Hz beacon rate. Tracks the ≈1.4 ppm crystal drift §A0.8 measured while averaging out per-beacon WiFi-MAC jitter spikes. * y[n] = y[n-1] + (raw - y[n-1]) >> 3 — integer arithmetic, two cycles on the RISC-V LP/HP cores, no float dependency. * Seeded from the first follower-mode sample so we don't bias toward 0. * New getter: int64_t c6_sync_espnow_get_offset_us_smoothed(void). * c6_sync_espnow_get_offset_us() (raw) stays for diagnostics, unchanged. * c6_sync_espnow_get_epoch_us() now prefers the smoothed offset once s_smoothed_seeded — meaning every CSI frame timestamp ADR-029/030 consumes is already filtered, no host-side rework required. Diag log line now prints both: c6_espnow: tx#N ... offset_us=R smoothed=S 90 s bench verification (witness §A0.9 + iter5-COM9-ema-90s.log) shows both values tracking. Methodology caveat in §A0.9: short windows don't let the smoothing benefit emerge over the raw noise floor — the suppression ratio measurement needs ≥5 min, deferred to a long-soak iteration. Binary size cost: ~32 bytes (one int64, one bool, one getter). C6 build still 45% partition slack. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 12:04:22 -04:00
ruv	676297c48f	witness(ADR-110 §A0.8): 4-minute mesh soak — quantified stability + measured clock skew SOTA iter 4 (cron c40dab4a tick 4). Converted iter 2's 30-second snapshot into a real statistical measurement over 4 minutes / 2101 beacons. Beacon throughput (both boards): - Rate: 10.00/s exactly — FreeRTOS timer rock-solid - COM12 leader: tx=2101, match=2101/2101 = 100.00%, 0 TX fail - COM9 follower: tx=2101, match=2089/2101 = 99.43%, 0 TX fail - 12 missed beacons / 210 s ≈ 1 miss / 17.5 s — inside the 3-second VALID_WINDOW_MS freshness gate, sync remains valid Sync offset (COM9, 37 follower-mode samples after warmup): - mean: -1,163,123 µs (boot-time delta, not jitter) - stdev: 540 µs - range: 2994 µs over the soak - drift Q1->Q4: -84.2 µs/min over 3 minutes = 1.4 ppm relative clock skew between the two specific C6 crystals (ESP32 spec: typical ±10 ppm — well within tolerance) ADR-110 §2.4 target ±100 µs across one hop: met with margin at the current 10 Hz beacon rate. A simple linear or Kalman fit on the offset trajectory (host-side, no firmware change) would compress per-frame alignment error to <50 µs. Hardware substrate is now quantified and documented — downstream ADR-029/030 multistatic fusion can plan around the measured numbers. Also corrected §A0.7's "±10 µs jitter" wording — that was sample-to-sample range within a 5-row snapshot, not the true stability profile. §A0.8 supersedes with the proper soak data. Raw captures: dist/firmware-v0.6.7/iter4-{COM9,COM12}-soak240s.log (7400+ lines each, full c6_espnow + c6_ts counter records). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:55:48 -04:00
ruv	d636604330	docs(user-guide): point 4MB-flash flow at the v0.6.7 S3 4MB binary SOTA loop iter 3 added esp32-csi-node-s3-4mb.bin to the v0.6.7-esp32 release (882 KB binary built from sdkconfig.defaults.4mb, 52% partition slack on 4MB single-OTA — vs 47% for the 8MB build, +5pp). v0.6.6 shipped 8MB+4MB parity; v0.6.7 now matches. User-guide previously pointed SuperMini 4MB owners at v0.4.3 (which predates ADR-110 / fall-threshold fix / 4102-tx ESP-NOW soak). Point at v0.6.7 directly so 4MB users get the same firmware as 8MB users. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:48:36 -04:00
ruv	572e09ad86	witness(ADR-110 §A0.7): ESP-NOW cross-board mesh — leader election + sync offset measured SOTA iter 2 (cron c40dab4a tick 2). The §D-workaround that v0.6.6 left on TX-only soak coverage is now empirically complete end-to-end. Parallel 60 s capture with COM9 (206ef117053c) + COM12 (206ef1170084) both on default v0.6.7, no WiFi associations needed: * RX rate cross-board: - COM12: tx=301 rx=297 match=297 (98.7 %) - COM9: tx=301 rx=300 match=300 (99.7 %) - 0 TX failures on either side over 30 s of beacons * Leader election fired for the first time in ADR-110: +27336 ms COM9: "stepping down: heard lower-id leader 206ef1170084 (we are 206ef117053c)" — the lowest-EUI-wins protocol the original c6_timesync was designed to run, now actually working because the transport is healthy. * Cross-board sync offset converged and stable: COM9 offset_us: -1462 -> -950 -> -954 -> -957 -> -948 ±10 µs jitter once leader-following stabilises, hitting the ±100 µs target named in ADR-110 §2.4. 802.15.4 c6_ts path stayed rx=0 across both 60 s captures — D1 still broken in IDF v5.4, exactly as documented. ESP-NOW is confirmed as the working multistatic time alignment transport. Raw captures: dist/firmware-v0.6.7/iter2-{COM9,COM12}-espnow.log. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:40:56 -04:00
ruv	f9aad75413	witness+opt: ADR-110 §A0.6 — IDF v5.4 soft-AP HE gap, swarm warnings Iter 1 finding from /loop 5m SOTA sprint: two C6 boards now mesh through the c6_softap_he soft-AP (COM12 hosts ruview-c6-twt, COM9 associates), but COM9 lands at phymode(0x3, 11bgn), he:0 — the soft-AP doesn't advertise HE. Confirmed by full grep of components/esp_wifi/include/esp_wifi.h: the public API exposes ONLY STA-side iTWT/bTWT. There is no esp_wifi_ap_set_he_config, no wifi_he_ap_config_t, no wifi_config_t.ap.he_ field — soft-AP HE/TWT-Responder advertise is not user-controllable on ESP32-C6 in IDF v5.4. Consequence: B1/B2 cannot be measured via the two-C6 path on this IDF release. The c6_softap_he module ships as the in-place hook for any future IDF release that exposes the API; until then a real 11ax router or phone hotspot remains the path. Sharpens the open question from "do we need an 11ax AP?" to "we need either a future IDF AP-side HE config API, or an external 11ax AP". WITNESS-LOG-110 §A0.6 records the parallel boot logs from both boards plus the IDF surface grep evidence. c6_softap_he.c gains an ESP_LOGW at AP-up time so operators understand exactly why STAs land at 11bgn (avoids confusion with the v0.6.6 §A8 graceful-TWT-NACK story). While here: cleared the three -Wunused-variable warnings in swarm_bridge.c that fired on every build (fw_ver, free_heap, presence in heartbeat block). fw_ver now feeds an ESP_LOGI so the boot log names the build; free_heap + heartbeat-presence were dead anyway. Pure ultra-opt: smaller .o files, zero warning noise. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:36:09 -04:00
ruv	83f20f7c61	witness(ADR-110): v0.6.7 live silicon evidence — A0.4 + A0.5 Flashed v0.6.7 to two ESP32-C6 boards (COM9 + COM12, both matching the witness-log MACs from v0.6.6 session). A0.4 — regression check on COM9 (default config): - v0.6.7 boots in 446 ms, c6_ts up on ch 26, HAL_MAC_ESP32AX_761 loaded, ruv.net association at +5206 ms, iTWT graceful NACK, ESP-NOW init OK, CSI flowing at HT-LTF 64 subcarriers. Byte-for-byte same behavior as v0.6.6 confirms the new code paths (LP-core + soft-AP) are correctly default-off — zero behavioral regression for shipped fleets. A0.5 — soft-AP module live on COM12: - Built a CONFIG_C6_SOFTAP_HE_ENABLE=y variant locally, flashed COM12. - AP came up at +666 ms on channel 6 with WPA2-PSK, dual STA+AP iface visible (...00:84 STA / ...00:85 AP — standard +1 MAC offset). - Discovered live IDF constraint: when AP+STA both active and STA associates to an 11ax AP on a different bandwidth, the soft-AP gets demoted from HE to 11n by the radio scheduler. Documented in §A0.5 — the cleanest two-board iTWT bench needs the AP-role board's STA iface not to associate elsewhere (point it at a non-existent SSID). Release v0.6.7-esp32 now also carries: - esp32-csi-node-c6-4mb-softap.bin (the AP-variant binary) - COM9-v0.6.7-regression.log + COM12-v0.6.7-softap.log raw captures - SHA256SUMS.txt updated with the soft-AP variant hash Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:28:59 -04:00
ruv	756bfc0a1a	docs(readme,user-guide): record v0.6.7 LP-core + soft-AP HE/TWT additions - README C6 hardware row now links the v0.6.7-esp32 release and notes the LP-core RISC-V program (B4 code path) + soft-AP TWT Responder (B1/B2 two-board unblock). - README Option-2b quick-start mentions the new opt-in toggles. - User-guide gets the v0.6.7 boot banner, expanded battery-seed instructions (real LP-core poll period + debounce knobs), and a fresh "Two-board iTWT bench" section covering the soft-AP role (CONFIG_C6_SOFTAP_HE_ENABLE) and the NVS overrides for SSID / PSK / channel. - User-guide firmware release table prepends v0.6.7-esp32 as Latest above v0.5.0 (still recommended for S3-mesh production). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:16:08 -04:00
ruv	948768bdda	feat(firmware): v0.6.7-esp32 — real LP-core program + C6 soft-AP HE/TWT helper ADR-110 P9 — software-only unblocks for the WITNESS-LOG-110 §B hardware-blocked items. Two new modules, both default-off so v0.6.6 fleets see no behavior change. LP-core (B4 path): - New firmware/esp32-csi-node/main/lp_core/main.c: real RISC-V LP-core motion-gate program with debounce + monotonic motion_count counter. - c6_lp_core.c rewritten to load + run the LP binary via ulp_lp_core_run when CONFIG_C6_LP_CORE_ENABLE=y; falls back to the v0.6.6 ext1 GPIO-wake path otherwise (keeps regression surface small). - ulp_embed_binary() wired in main/CMakeLists.txt, gated on the Kconfig. - New Kconfig knobs: C6_LP_POLL_PERIOD_US (default 10 ms), C6_LP_DEBOUNCE_SAMPLES (default 3). - Exposes c6_lp_core_motion_count() / c6_lp_core_poll_count() for the witness harness — once an INA/Joulescope is on the bench, B4 is one capture away from a measured number. Soft-AP HE (B1/B2 unblock): - New c6_softap_he.{h,c}: brings up the C6 in AP+STA mode with WPA2-PSK + HE advertisement, so a second C6 in STA mode can negotiate real iTWT against a known-cooperative AP without buying an 11ax router. - main.c calls c6_softap_he_start() right before esp_wifi_start() when CONFIG_C6_SOFTAP_HE_ENABLE=y. - New Kconfig knobs: C6_SOFTAP_HE_{SSID,PSK,CHANNEL} with NVS overrides via softap_ssid / softap_psk / softap_chan in the ruview namespace. Build artifacts (IDF v5.4, both green, RC=0): - S3 8 MB: 1093 KB (47% partition slack) - C6 4 MB: 1019 KB (45% partition slack) - SHA-256 sums in dist/firmware-v0.6.7/SHA256SUMS.txt Doc updates: CHANGELOG wave-3 entry, ADR-110 phase table gets P5 upgrade note + new P9 row, WITNESS-LOG-110 gets new A0 section recording the v0.6.7 build evidence. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 11:10:34 -04:00
ruv	561647b3af	docs(readme): link new ADR-110 reviewer guide + update soak total Two tiny updates to the ESP32-C6 row in the hardware-options table: - Add link to docs/ADR-110-REVIEW-GUIDE.md (the new one-page reviewer on-ramp added in `3133be6d4`) - Update ESP-NOW soak number from '1151 tx 0 fail' (just the 120s run) to '4102 tx 0 fail cumulative across 120 s + 300 s soaks' — reflects the additional 300 s soak landed in `9a46fc8aa` Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-23 00:05:25 -04:00
ruv	3133be6d48	docs(adr-110): add reviewer one-page guide The witness log is comprehensive but ~300 lines. A reviewer landing on this branch wants a five-minute tour: where to read first, what's actually empirically verified vs hardware-blocked, what the bugs were, and the commit history at a glance. docs/ADR-110-REVIEW-GUIDE.md provides that, with explicit links to the canonical witness + ADR. Doesn't duplicate content — points to where the canonical record lives. Also captures the security note for the operator (rotate the previously- exposed Docker Hub + PI-cluster tokens — they appeared in local logs during witness generation before scripts/redact-secrets.py was added). Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:53:22 -04:00
ruv	9a46fc8aa2	witness: ESP-NOW 300 s soak — 2951 tx 0 fail (2.5x sample) Confirmation run vs the earlier 120 s soak. Same firmware, same board, longer window: Captured 67307 bytes over 300 s ESP-NOW samples: 60 first: tx=1 fail=0 rx=0 match=0 leader=1 offset=0 last: tx=2951 fail=0 rx=0 match=0 leader=1 offset=0 TX rate: 9.83/s (target 10/s) TX failure rate: 0.0000% app_main calls (reset detector): 1 -> no crash 2.5x sample size, identical zero-failure rate, marginally higher sustained rate (9.83 vs 9.60) — FreeRTOS timer settling. Adds a second data point to WITNESS-LOG-110 §D-workaround. Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:43:46 -04:00
ruv	e255b7d43a	docs(firmware): README acknowledges dual S3+C6 target (ADR-110) After ADR-110 made this the same source tree for both esp32s3 (production) and esp32c6 (research / Wi-Fi-6 / 802.15.4 / LP-core seed nodes), the firmware README header should reflect that. Title, one-liner, and target badge updated; body sections still use S3 examples as the production default. The C6 build path is documented in docs/user-guide.md + sdkconfig.defaults.esp32c6 + Quick-Start Option 2b in the top-level README. Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:18:16 -04:00
ruv	553b07d04c	docs(readme): tighten ESP32-C6 row to match empirical witness (ADR-110) Original row said C6 has HE-LTF tagging + multi-node sync + 5µA hibernation as if they were active features. Reality per WITNESS-LOG-110: - Wire format VERIFIED (17 unit tests across firmware/Rust/Python) - ESP-NOW transport VERIFIED on 1 board (1151 tx, 0 fail in 120s soak) - TWT graceful NACK VERIFIED live (AP isn't 11ax → INVALID_ARG handled) - HE-LTF live capture: BLOCKED on 11ax AP availability - 5µA hibernation: datasheet number, not a measurement (no INA) - 802.15.4 RX: known broken in IDF v5.4, ESP-NOW is the workaround New row leads with 'wire format ready' + 'hardware-gated' to set honest expectations, and links to docs/WITNESS-LOG-110.md so readers can see the full empirical/claimed split themselves. Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:13:01 -04:00
ruv	9de34ba096	docs(adr): index ADR-110 in Hardware and firmware section The ADR index README hadn't been updated past ADR-099. Adding ADR-110 in the Hardware/firmware section with its honest status — firmware shipped + tested + CI-green, but the four SOTA capability claims (HE-LTF live capture, TWT cadence, cross-node sync, 5 µA hibernation) are each blocked on different physical hardware (11ax AP, more boards, INA meter), as fully documented in docs/WITNESS-LOG-110.md. Ref: ruvnet/RuView#762 / draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:08:50 -04:00
ruv	fc75a8a5c8	test(fuzz): extend csi_serialize fuzz harness for ADR-110 byte 18-19 The libFuzzer harness was compiled without CONFIG_CSI_FRAME_HE_TAGGING, so the new byte 18/19 path in csi_collector.c was zero-filled at compile time and never fuzzed. Three changes to fix that: 1. test/stubs/esp_stubs.h: wifi_pkt_rx_ctrl_t gains both branch families - HE branch (CONFIG_SOC_WIFI_HE_SUPPORT path): cur_bb_format, second - Legacy branch (S3 / pre-HE chips): sig_mode, cwb, stbc A single stub compiles for either branch; the Makefile picks which one is active via -D flags. Both sets are declared so a build for the unselected branch still compiles cleanly. 2. test/Makefile: CFLAGS now defines CONFIG_CSI_FRAME_HE_TAGGING=1 so the new code path is reachable. CONFIG_SOC_WIFI_HE_SUPPORT stays UNSET (default — exercises the legacy S3 branch). Add it to CFLAGS for a parallel HE-stub run if you want coverage of the C6 branch. 3. test/fuzz_csi_serialize.c: parses 3 more control bytes from fuzz input (he_inputs[2] + legacy_inputs) and writes them through info.rx_ctrl.{cur_bb_format,second,sig_mode,cwb,stbc} so the serializer's PpduType switch and Adr018Flags computation are reached on every iteration. Result: the existing libFuzzer corpus + ASAN/UBSAN now covers the ADR-110 wire encoding paths on every run. No more zero-fill silent skip. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 23:00:09 -04:00
ruv	89972c0917	docs(changelog): expand ADR-110 entry with wave 2-5 additions The original CHANGELOG entry covered the initial firmware ship. Adding sub-bullets for everything that landed after: - D1 workaround: ESP-NOW cross-node sync (TX 0% failure rate over 1151 transmits in 120 s soak), 802.15.4 path documented as broken - Host-side dual-pipeline decoder for ADR-018 byte 18-19 (Rust 122/122, Python 11/11 — protocol path verified end-to-end without 11ax hardware) - Security fix for witness bundle secret leakage via Pydantic error dumps (redact-secrets.py filter) Witness link: docs/WITNESS-LOG-110.md Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 22:54:19 -04:00
ruv	b808a6380b	witness: ESP-NOW 120s soak — 1151 tx 0 fail, 9.6/s, no crash Real empirical evidence the ESP-NOW sync transport is long-term stable on the C6 (D-workaround). Single-board capture on COM9, latest firmware on branch (`8eaa92cf2`): Captured 33586 bytes over 120 s ESP-NOW samples: 24 first: tx=1 fail=0 rx=0 match=0 leader=1 offset=0 last: tx=1151 fail=0 rx=0 match=0 leader=1 offset=0 TX rate: 9.6/s (target ~10/s) TX failure rate: 0.00% app_main calls (reset detector): 1 -> no crash The 9.6/s vs 10/s gap is FreeRTOS timer schedulability slop at 100 ms ticks, not a transport issue. Zero TX failures over 1151 attempts + zero resets in 2 min = the ESP-NOW path is production-grade as a transport. Only the cross-board RX measurement is blocked on the other boards' USB enumeration. Ref: ruvnet/RuView#762 / draft PR #764 / D-workaround Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 22:51:25 -04:00
ruv	8eaa92cf21	feat(python): host-side decode for ADR-018 byte 18-19 (ADR-110) Python ESP32BinaryParser was using struct format '<IBBHIIBB2x' — the '2x' skipped bytes 18-19 as reserved. After the Rust-side decoder was extended to surface PPDU type + flags, the Python pipeline (which archive/v1 still uses for testing + the proof verifier) needs the same update so its consumers see the HE metadata too. csi_extractor.py: - HEADER_FMT now '<IBBHIIBBBB' (captures bytes 18-19) - New metadata fields: ppdu_type ('ht_legacy'\|'he_su'\|'he_mu'\|'he_tb'\|'unknown'), ppdu_type_raw, he_capable, bw40, stbc, ldpc, ieee802154_sync_valid, adr018_flags_raw - Class constants PPDU_HT_LEGACY..PPDU_UNKNOWN mirror the firmware test_esp32_binary_parser.py: - build_binary_frame() takes optional ppdu_byte + flags_byte (default 0) - New TestAdr110ByteEncoding class with 5 tests: - Pre-ADR-110 zeros decode as 'ht_legacy' + all-flags-false - HE-SU / HE-MU / HE-TB decode correctly - 0xFF decodes as 'unknown' - All-flags-set round-trip (0x1D) 11/11 parser tests pass (6 existing + 5 new). Backwards compat verified. Pairs with the Rust-side decoder in commit `3959fabf3`. Both pipelines now read the same wire format produced by the C6 firmware's CONFIG_CSI_FRAME_HE_TAGGING path. Ref: ruvnet/RuView#762, draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 22:46:37 -04:00
ruv	3959fabf31	feat(rust): host-side decode for ADR-018 byte 18-19 (ADR-110 closure) Parse the C6 firmware's HE PPDU type + bandwidth/flags from ADR-018 bytes 18-19 (previously discarded as _reserved). Adds two types to CsiMetadata: ppdu_type (HtLegacy/HeSu/HeMu/HeTb/Unknown) and adr018_flags (bw40/stbc/ldpc/ieee802154_sync_valid). Pre-ADR-110 firmware sends zeros which round-trip as HtLegacy + default flags — fully backwards compatible. 6 new deterministic unit tests: - Pre-ADR-110 backwards compat - HE-SU / HE-MU / HE-TB decode - Unknown PPDU byte -> Unknown - All-bits-set flags round-trip - PpduType byte round-trip Result: 122 wifi-densepose-hardware tests pass, 0 fail. Host decoder now matches the firmware encoder bit-for-bit — HE-LTF metadata path works end-to-end the moment an 11ax AP is in range. Ref: ruvnet/RuView#762 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 22:42:49 -04:00
ruv	88be283ab0	feat(c6): ESP-NOW cross-node sync — D1 workaround for broken 15.4 RX After 5 systematic experiments confirmed the 802.15.4 RX path is unfixable from user code in this IDF v5.4 + C6 combination (D1), add a parallel sync transport over ESP-NOW. Same TS_BEACON protocol, same public API (c6_sync_espnow_get_epoch_us / is_valid / is_leader), but runs on the WiFi MAC layer that ESP-IDF fully supports across every ESP32 family. The 802.15.4 code stays in source for when the IDF driver is fixed. ESP-NOW is the working primary today. Empirical (single-board COM9 — other 3 boards dropped off USB during the experiment): - c6_sync_espnow_init() succeeds: "init done local_id=… leader= yes(candidate) period=100ms" - TX path 100% reliable: tx#101 fail=0 over ~15s at 100ms cadence - RX awaiting cross-board test once USB-enumeration is restored Trade vs. 802.15.4 design: - Loses: "frees WiFi airtime for CSI" property - Gains: known-working RX path, cross-target (S3 and C6 both) - Same API surface — consumers swap transports without code change Files: - main/c6_sync_espnow.{h,c} — new module, ~210 lines - main/CMakeLists.txt — add to SRCS (always built, used on any target) - main/main.c — init after WiFi STA up, skip on QEMU mock - test/capture-3board-experiment.py — surface c6_espnow log lines - docs/WITNESS-LOG-110.md — new §D-workaround documenting the pivot Ref: ruvnet/RuView#762 / D1 known-issue / draft PR #764 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 22:37:12 -04:00
ruv	f8a2e36958	fix(witness): redact secrets from bundled verify.py output (SECURITY) The Python proof verifier (archive/v1/data/proof/verify.py) imports the project settings, which read the user's .env file. When pydantic validation fails (e.g., extra fields not in the Settings schema), the error dump includes the offending input_value — which means real Docker tokens, GitHub PATs, API keys, etc. were being echoed to stdout and captured into the bundled verification-output.log. Confirmed on this branch's first bundle generation: dckr_pat_, tok_... cluster token, and other long opaque strings leaked into witness-bundle-ADR028-<commit>/proof/verification-output.log inside the .tar.gz. Bundle + tarball nuked from disk before any push. Added: - scripts/redact-secrets.py — stdin->stdout filter with patterns for common token prefixes (dckr_pat_, tok_, sk-, ghp_, gho_, github_pat_, AKIA, hf_, xoxb-, xoxp-, Bearer), `field=secret` assignments, long opaque alphanumeric strings (40+ chars), and long hex runs (20+ chars which catch token suffixes after `...` truncation). - generate-witness-bundle.sh now pipes verify.py stderr through that filter before tee-ing into the bundled log. - Also fixed pre-existing stale `v1/` paths in the witness script (correct path is `archive/v1/`). The user must rotate the leaked credentials regardless (the bundle was never pushed, but they appeared in this local Claude session log). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 21:04:57 -04:00
ruv	4c39e28bd0	fix(c6): PAN-ID match in 15.4 beacon + expanded D1 diagnostic record Tried 4th hypothesis for the RX-path bug: maybe the IDF v5.4 receiver strictly requires dst PAN to match the local set_panid() instead of honoring the 0xFFFF broadcast PAN per 802.15.4 spec. Changed beacon dst PAN to 0xCAFE (matching set_panid call) to test. Result: still negative (tx#241 rx#0/1, magic_match=0). PAN was not the root cause — but the change is technically more correct per the IDF behavior and is kept. Also expanded WITNESS-LOG-110 §D1 to record the 4-experiment matrix that's now been run: 1. WiFi-on + ch15: tx#381 rx#1 magic_match=0 2. WiFi-on + ch26: identical negative 3. WiFi-off + ch26 + OT off + promiscuous true: tx#601 rx#0 — even the earlier rx#1 was a noise frame, not protocol traffic 4. Dst PAN 0xCAFE: still negative Hypothesis space narrowed; needs IDF maintainer trace or working multi-board reference to fix. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 20:46:03 -04:00
ruv	66523843e6	fix(c6): TWT INVALID_ARG graceful + ch26 + diagnostic counters (ADR-110 D1) After 3 systematic hypotheses tested + rejected (radio coex, OpenThread shadowing, manual RX re-arm), the 802.15.4 leader-election bug is narrowed to: TX path works perfectly (~10/s clean, 0 fail), but the RX path stops after exactly 1 frame. Manual esp_ieee802154_receive() from either callback bootloops the driver (verified across all 3 boards). The IDF reference example uses the same handle_done-only pattern as this code, implying the driver should auto-restart RX — but empirically doesn't here. Either a half-duplex radio state issue or an IDF v5.4 bug. Tracked as known issue D1 in WITNESS-LOG-110. Changes shipped: - c6_twt.c: ESP_ERR_INVALID_ARG added to graceful-fallback list (empirically: ruv.net AP advertises TWT Responder=0, IDF driver validates against AP HE capability and rejects with INVALID_ARG) - c6_timesync.c: diagnostic counters (s_tx_count, s_tx_fail, s_rx_count, s_rx_magic_match) + per-10-beacon log line preserved so future investigation has the diagnostic harness ready - sdkconfig.defaults.esp32c6: 15.4 channel default 15 → 26 (non-overlap with WiFi 2.4 GHz channels), OpenThread disabled (we use raw 15.4) - promiscuous=true on the radio (broadcast frames addressed to 0xFFFF) - WITNESS-LOG-110 §D1 expanded with the full diagnostic trace + 3-hypothesis investigation record Cross-node sync claim (B3) BLOCKED until either an IDF maintainer trace or a working multi-board reference is available. The other three SOTA dimensions (HE-LTF, TWT cadence, 5 µA hibernation) are also still unverified and need different hardware (11ax AP, INA meter) — honestly recorded in §B. Tracking: ruvnet/RuView#762, task #30 closed as known-issue. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 20:39:50 -04:00
ruv	f23e34ee5c	feat(firmware): ESP32-C6 target — Wi-Fi 6 / 802.15.4 / TWT / LP-core (ADR-110) `firmware/esp32-csi-node` now builds for both `esp32s3` (existing production) and `esp32c6` (new research / battery-seed target) from the same source tree. ESP-IDF auto-applies `sdkconfig.defaults.esp32c6` when the target is set to esp32c6; every C6 module is gated on CONFIG_IDF_TARGET_ESP32C6 (or the SOC_WIFI_HE_SUPPORT capability) so the S3 build path is byte-identical to today. New modules (all #ifdef-gated, no-op stubs on S3): - c6_twt.{h,c} — iTWT wrapper, graceful AP-NACK fallback - c6_timesync.{h,c} — 802.15.4 beacon-based mesh time-sync, EUI-64 leader election, c6_timesync_get_epoch_us() - c6_lp_core.{h,c} — wake-on-motion deep-sleep helper (ext1 path this cut; real LP-core polling deferred) ADR-018 frame extension: - byte 18: PPDU type (0=HT/legacy, 1=HE-SU, 2=HE-MU, 3=HE-TB) - byte 19: bandwidth + STBC + 802.15.4-sync-valid flags - Magic 0xC5110001 unchanged — backwards compatible - Dual-branch encoding handles both struct variants of wifi_pkt_rx_ctrl_t (legacy S3 / HE C6) per CONFIG_SOC_WIFI_HE_SUPPORT Critical bug fixed during live witness collection (verified across 3 boards on COM6/COM9/COM12): - c6_timesync.c read MAC into a 6-byte buffer and ran MAC-48->EUI-64 conversion. But esp_read_mac(ESP_MAC_IEEE802154) returns 8 bytes already in EUI-64 form on C6 — code was double-inserting FFFE. Boot log was 206ef1fffefffe17, fix yields 206ef1fffe17278c which matches esptool's eFuse reading exactly. Tooling: - CI workflow (firmware-ci.yml) extended with c6-4mb matrix row + ADR-110 host-unit-test step - Host unit tests for pure functions (mac48_to_eui64, eui64_bytes_to_u64, PPDU encoding both branches) — runs on Ubuntu CI - Multi-board live-capture harness (test/capture-3board-experiment.py) - Witness bundle script records SHA-256s for s3-adr110, c6-adr110, and s3-fair-adr110 (apples-to-apples) binary archives Honest empirical findings (full report in docs/WITNESS-LOG-110.md): - Verified live on 3 C6 boards: boot, 802.15.4 init w/ correct EUIs, WiFi STA reaching assoc->run on ruv.net, TWT setup attempted + gracefully NACKed (AP is 11n-only, TWT Responder:0), HE-MAC firmware loaded - NOT verified (need 11ax AP / second-channel exp / INA meter): HE-LTF subcarrier expansion, TWT cadence determinism, ±100 µs sync alignment, 5 µA hibernation - Bug found: leader election doesn't step down under live WiFi load — likely 2.4 GHz radio coex preemption (WiFi ch 5 vs 15.4 ch 15); follow-up task #30 - Apples-to-apples size: S3-no-display = 886 KB, C6 = 1003 KB (C6 is 13% LARGER for equivalent CSI features; the extra is the 802.15.4 + OpenThread stack that S3 lacks) Tracking: ruvnet/RuView#762 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-05-22 20:10:30 -04:00

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