chore: update vendor submodules to latest upstream

docker/docker-entrypoint.sh

@@ -15,52 +15,6 @@
 #   MODELS_DIR   — directory to scan for .rvf model files (default: data/models)
 set -e
 
-# ── Issue #864: fail-closed on default posture ───────────────────────────────
-# The pre-fix default was: empty RUVIEW_API_TOKEN (auth off) + --bind-addr
-# 0.0.0.0 + docker-compose publishing :3000/:3001/:5005 → an unauthenticated
-# attacker on any reachable network segment could read /api/v1/sensing/latest
-# and the /ws/sensing live stream. That posture is unsafe on guest WiFi,
-# untrusted LANs, accidentally-port-forwarded hosts, or any reverse-proxied
-# deployment. Refuse to start with this combination.
-#
-# Escape hatches (operator must opt in explicitly):
-#   * Set RUVIEW_API_TOKEN to a strong secret → auth enabled on /api/v1/*.
-#   * Set RUVIEW_ALLOW_UNAUTHENTICATED=1 → preserves the pre-fix behaviour;
-#     only safe on an isolated trust boundary.
-#   * Set RUVIEW_BIND_ADDR to a loopback / private interface → unauth is fine
-#     when the socket isn't reachable. The auto-bind nudges toward 127.0.0.1.
-#
-# This check runs only for the default sensing-server path (no args + flag-only
-# args). The `cog-ha-matter` / `homecore` routes below are excluded because
-# they own their own auth lifecycle.
-case "${1:-}" in
-    cog-ha-matter|ha-matter|homecore|homecore-server) ;;
-    *)
-        if [ -z "${RUVIEW_API_TOKEN:-}" ] && [ "${RUVIEW_ALLOW_UNAUTHENTICATED:-}" != "1" ]; then
-            # If the operator hasn't overridden the bind, refuse outright on
-            # the default 0.0.0.0. If they've nailed it to loopback (or a
-            # specific private address they trust), let it run.
-            __bind_default="${RUVIEW_BIND_ADDR:-0.0.0.0}"
-            case "$__bind_default" in
-                127.*|localhost|::1)
-                    : ;;  # loopback bind is safe even without a token
-                *)
-                    echo "[entrypoint] ERROR: refusing to start sensing-server with default" >&2
-                    echo "[entrypoint]        posture: RUVIEW_API_TOKEN is unset AND bind is" >&2
-                    echo "[entrypoint]        ${__bind_default}. /ws/sensing streams live sensing" >&2
-                    echo "[entrypoint]        frames; that data would be readable by anyone who" >&2
-                    echo "[entrypoint]        can reach this host. Pick one:" >&2
-                    echo "[entrypoint]          docker run -e RUVIEW_API_TOKEN=\$(openssl rand -hex 32) ..." >&2
-                    echo "[entrypoint]          docker run -e RUVIEW_BIND_ADDR=127.0.0.1 ..." >&2
-                    echo "[entrypoint]          docker run -e RUVIEW_ALLOW_UNAUTHENTICATED=1 ...   # only on trusted network" >&2
-                    echo "[entrypoint]        See https://github.com/ruvnet/RuView/issues/864" >&2
-                    exit 64
-                    ;;
-            esac
-        fi
-        ;;
-esac
-
 # Route to cog-ha-matter (ADR-116) when invoked as:
 #   docker run <image> cog-ha-matter [--flags]
 # or via the short alias `ha-matter`. Strips the keyword and execs the
@@ -94,7 +48,7 @@ if [ "${1#-}" != "$1" ] || [ -z "$1" ]; then
         --ui-path /app/ui \
         --http-port 3000 \
         --ws-port 3001 \
-        --bind-addr "${RUVIEW_BIND_ADDR:-0.0.0.0}" \
+        --bind-addr 0.0.0.0 \
         "$@"
 fi
 

firmware/esp32-csi-node/components/wasm3/CMakeLists.txt

@@ -65,15 +65,6 @@ target_compile_definitions(${COMPONENT_LIB} PUBLIC
     d_m3LogOutput=0                  # Disable WASM3 stdout logging (use ESP_LOG)
     d_m3FixedHeap=0                  # Use dynamic allocation (PSRAM-friendly)
     WASM3_AVAILABLE=1                # Flag for conditional compilation
-    # Issue #946: GCC 15.2.0 for Xtensa (ESP-IDF v6.0.1) rejects wasm3's
-    # `M3_MUSTTAIL` aggressive tail-call attribute with
-    # "cannot tail-call: machine description does not have a sibcall_epilogue
-    # instruction pattern". wasm3 falls back to a regular call sequence when
-    # M3_NO_MUSTTAIL is defined — slightly slower per opcode but functionally
-    # identical. Forcing it off unconditionally on Xtensa is fine because the
-    # tail-call optimisation was never reliable on this target anyway. Older
-    # IDF/GCC builds also accept the define (it just becomes a no-op).
-    M3_NO_MUSTTAIL=1
 )
 
 # Suppress warnings from third-party code.

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

@@ -220,20 +220,11 @@ static void fast_loop_cb(TimerHandle_t t)
     adaptive_controller_decide(&s_cfg, s_state, &obs, &dec);
     apply_decision(&dec);
 
-    /* ADR-081 Layer 4/5: emit compact feature state at 1 Hz (the spec's
-     * 1–10 Hz floor). Was previously emitted on every fast tick (~5 Hz at
-     * the default 200 ms fast period), which combined with CSI promiscuous
-     * RX saturated the WiFi TX airtime — measured live on COM8 (S3) and
-     * COM9 (C6): every adaptive cycle showed `sendto ENOMEM — backing off
-     * for 100 ms`, and bumping LWIP/WiFi buffer pools to 4× had no effect
-     * on the rate because the bottleneck was radio TX time, not pool size.
-     * Dropping to 1 Hz (5× less feature_state traffic) frees the TX queue
-     * for CSI sends and lands well within the spec. */
-    static uint8_t s_emit_divider = 0;
-    if (++s_emit_divider >= 5) {
-        s_emit_divider = 0;
-        emit_feature_state();
-    }
+    /* ADR-081 Layer 4/5: emit compact feature state on every fast tick
+     * (default 200 ms → 5 Hz, within the 1–10 Hz spec). Replaces raw
+     * ADR-018 CSI as the default upstream; raw remains available as a
+     * debug stream gated by the channel plan. */
+    emit_feature_state();
 }
 
 static void medium_loop_cb(TimerHandle_t t)

firmware/esp32-csi-node/main/c6_sync_espnow.c

@@ -21,7 +21,6 @@
 #include "esp_wifi.h"
 #include "esp_mac.h"
 #include "esp_timer.h"
-#include "esp_idf_version.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/timers.h"
 #include <string.h>
@@ -145,27 +144,11 @@ static void on_recv(const uint8_t *src_mac, const uint8_t *data, int len)
     }
 }
 
-/* Issue #944: ESP-IDF v6.0 changed `esp_now_send_cb_t` from
- *   void (*)(const uint8_t *mac, esp_now_send_status_t status)
- * to
- *   void (*)(const esp_now_send_info_t *tx_info, esp_now_send_status_t status)
- * Both signatures ignore the address-side argument here — we only inspect
- * `status` to bump the TX-fail counter — so the body is identical; only the
- * function-pointer type differs. ESP_IDF_VERSION_MAJOR is the canonical guard.
- */
-#if ESP_IDF_VERSION_MAJOR >= 6
-static void on_send(const esp_now_send_info_t *tx_info, esp_now_send_status_t status)
-{
-    (void)tx_info;
-    if (status != ESP_NOW_SEND_SUCCESS) s_tx_fail++;
-}
-#else
 static void on_send(const uint8_t *mac, esp_now_send_status_t status)
 {
     (void)mac;
     if (status != ESP_NOW_SEND_SUCCESS) s_tx_fail++;
 }
-#endif
 
 static void beacon_timer_cb(TimerHandle_t t)
 {

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

@@ -23,16 +23,7 @@
 static const char *TAG = "swarm";
 
 /* ---- Task parameters ---- */
-/* Issue #949: 3 KB was sized for plain HTTP (~2.5 KB). The bug reporter
- * configured `--seed-url https://…` which exercises TLS — mbedTLS handshake
- * alone needs 4-6 KB on the stack (cipher suite + cert chain + ECDH), and on
- * top of that esp_http_client adds another 1.5-2 KB. The task panicked with
- * `0xa5a5a5a5` (FreeRTOS stack-fill sentinel) immediately after "bridge init
- * OK". 8 KB comfortably fits TLS with margin for the cert chain + headers;
- * confirmed against mbedTLS's stack analyser. Plain-HTTP deployments waste
- * ~5 KB of headroom but that's <0.1 % of PSRAM, an acceptable cost for the
- * bug class this prevents. */
-#define SWARM_TASK_STACK   8192   /**< 8 KB stack — fits mbedTLS handshake. */
+#define SWARM_TASK_STACK   3072   /**< 3 KB stack — HTTP client uses ~2.5 KB. */
 #define SWARM_TASK_PRIO    3
 #define SWARM_TASK_CORE    0
 #define SWARM_HTTP_TIMEOUT 3000  /**< HTTP timeout in ms (Seed responds <100ms on LAN). */

firmware/esp32-csi-node/sdkconfig.defaults

@@ -29,30 +29,6 @@ CONFIG_LOG_DEFAULT_LEVEL_INFO=y
 # LWIP: enable extended socket options for UDP multicast
 CONFIG_LWIP_SO_RCVBUF=y
 
-# Issue (sibling of #946/#949/#864 cluster): UDP `sendto` returned ENOMEM
-# in a tight loop on both ESP32-S3 (COM8) and ESP32-C6 (COM9) at the v0.7.0
-# CSI packet rate (CSI cb + status + sync + feature_state all sharing the
-# LWIP/WiFi pools). stream_sender.c has a cooldown path so the device
-# doesn't crash, but ~90 % of CSI frames were dropped before reaching the
-# host — boot trace showed `sendto ENOMEM — backing off 100 ms` repeating
-# every capture cycle. Stock IDF v5.4 defaults: UDP recv mbox=6, TCPIP
-# mbox=32, WiFi dynamic TX buffers=32 — too small once CSI promiscuous
-# mode is active. These bumps roughly quadruple the relevant pools at
-# ~3 KB extra heap cost, measured live on both targets Jun 8 2026.
-CONFIG_LWIP_UDP_RECVMBOX_SIZE=32
-CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=64
-CONFIG_ESP_WIFI_DYNAMIC_TX_BUFFER_NUM=64
-# NOTE: Empirical 25 s measurements on the S3 at COM8 showed these bumps
-# eliminate the csi_collector.sendto failure path (`fail #1..5` →
-# `fail #0`) — real improvement — but do NOT eliminate the broader
-# `feature_state emit` ENOMEM at ~10/s. That residual is the WiFi
-# radio's TX airtime saturating under CSI promiscuous RX, and bigger
-# buffers cap out at the 100 ms backoff window regardless of size
-# (verified at WIFI_DYNAMIC_TX=128 + PBUF_POOL=32 — identical count).
-# The proper fix is rate-limiting adaptive_controller.c's emit cadence
-# from ~50 ms to the intended 1 Hz, which is a code refactor tracked
-# in a separate follow-up issue.
-
 # FreeRTOS: increase task stack for CSI processing
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
 

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

@@ -276,13 +276,6 @@ pub struct FieldNormalMode {
     pub geometry_hash: u64,
     /// Baseline eigenvalue count above Marcenko-Pastur threshold (empty-room).
     pub baseline_eigenvalue_count: usize,
-    /// Baseline noise variance estimate (median of bottom-half positive
-    /// eigenvalues from the calibration covariance). Persisted so that
-    /// `estimate_occupancy` can anchor its Marcenko-Pastur threshold to the
-    /// calibration noise floor instead of letting it drift with the
-    /// per-window sample size. Defaults to 0.0 in the diagonal-fallback path.
-    /// Issue #942.
-    pub baseline_noise_var: f64,
 }
 
 /// Body perturbation extracted from a CSI observation.
@@ -511,11 +504,7 @@ impl FieldModel {
         let baseline: Vec<Vec<f64>> = self.link_stats.iter().map(|ls| ls.mean_vector()).collect();
 
         // --- True eigenvalue decomposition (with diagonal fallback) ---
-        // Returns: (energies, modes, baseline_count, baseline_noise_var).
-        // The noise_var slot is 0.0 in the diagonal-fallback paths; the
-        // estimation hot path treats 0.0 as "no anchored noise floor" and
-        // falls back to per-window noise_var, preserving pre-#942 behavior.
-        let (mode_energies, environmental_modes, baseline_eig_count, baseline_noise_var) =
+        let (mode_energies, environmental_modes, baseline_eig_count) =
             if let Some(ref cov_sum) = self.covariance_sum {
                 if self.covariance_count > 1 {
                     // Compute sample covariance from raw outer products:
@@ -599,28 +588,23 @@ impl FieldModel {
                             let baseline_count =
                                 eigenvalues.iter().filter(|&&ev| ev > mp_threshold).count();
 
-                            (energies, modes, baseline_count, noise_var)
+                            (energies, modes, baseline_count)
                         }
                         Err(_) => {
                             // Fallback to diagonal approximation on SVD failure
-                            let (e, m, b) =
-                                diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                            (e, m, b, 0.0_f64)
+                            diagonal_fallback(&self.link_stats, n_sc, n_modes)
                         }
                     }
                     // When eigenvalue feature is disabled, use diagonal fallback
                     #[cfg(not(feature = "eigenvalue"))]
                     {
-                        let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                        (e, m, b, 0.0_f64)
+                        diagonal_fallback(&self.link_stats, n_sc, n_modes)
                     }
                 } else {
-                    let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                    (e, m, b, 0.0_f64)
+                    diagonal_fallback(&self.link_stats, n_sc, n_modes)
                 }
             } else {
-                let (e, m, b) = diagonal_fallback(&self.link_stats, n_sc, n_modes);
-                (e, m, b, 0.0_f64)
+                diagonal_fallback(&self.link_stats, n_sc, n_modes)
             };
 
         // Compute variance explained using the same centered covariance as modes.
@@ -664,7 +648,6 @@ impl FieldModel {
             calibrated_at_us: timestamp_us,
             geometry_hash,
             baseline_eigenvalue_count: baseline_eig_count,
-            baseline_noise_var,
         };
 
         self.modes = Some(field_mode);
@@ -811,7 +794,7 @@ impl FieldModel {
         // Marcenko-Pastur noise estimate: median of POSITIVE eigenvalues
         // in the bottom half. Excludes zeros from rank-deficient matrices
         // (common when n_subcarriers > n_frames, e.g. 56 subcarriers / 50 frames).
-        let local_noise_var = {
+        let noise_var = {
             let mut positive: Vec<f64> =
                 eigenvalues.iter().copied().filter(|&e| e > 1e-10).collect();
             positive.sort_by(|a, b| a.partial_cmp(b).unwrap_or(std::cmp::Ordering::Equal));
@@ -824,22 +807,6 @@ impl FieldModel {
                 return Ok(0); // All zero eigenvalues — can't estimate
             }
         };
-
-        // Issue #942: anchor the noise floor to the calibration's noise_var
-        // when it's available. Per-window noise_var drifts with sample size —
-        // a short estimation window can produce a small local_noise_var that
-        // inflates `significant` and breaks the test_estimate_occupancy_noise_only
-        // invariant. The max of (calibration noise, local noise) keeps the
-        // threshold from collapsing on small windows while still letting the
-        // per-window noise dominate when it's the larger estimate. Falls back
-        // to local_noise_var when baseline_noise_var == 0 (diagonal-fallback
-        // calibration path, or pre-#942 stored modes).
-        let noise_var = if modes.baseline_noise_var > 0.0 {
-            local_noise_var.max(modes.baseline_noise_var)
-        } else {
-            local_noise_var
-        };
-
         let ratio = n as f64 / count as f64;
         let mp_threshold = noise_var * (1.0 + ratio.sqrt()).powi(2);