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https://github.com/ruvnet/RuView
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ruv
7994af8221
Phase 6 of #513: C-side wiring for the on-device temporal head. Builds cleanly with feature OFF (default); 8MB binary delta is +96 bytes vs v0.6.4-esp32 — that's the no-op shim path. Feature ON depends on the Rust component (Phase 5, currently blocked by upstream esp-rs nightly). Files: - main/temporal_task.{c,h} — owns the FreeRTOS task lifecycle. Per ADR-095 §3.3 the task has its own 16 KB stack pinned to Core 1 and is fed via a 32-deep FreeRTOS queue. With feature OFF the .c file collapses to three ESP_ERR_NOT_SUPPORTED stubs so callers don't need #ifdefs at every call site. - main/temporal_task.h — defines rv_temporal_pkt_t (40 bytes, magic 0xC5110007 — next free in the existing 0xC5110001..0006 family) and the task lifecycle API. Build-time _Static_assert pins the wire format. - main/Kconfig.projbuild — new menu "On-device temporal head (ADR-095, #513)" with CONFIG_CSI_TEMPORAL_HEAD_ENABLED (default n) plus four runtime-tuneable knobs: TEMPORAL_INPUT_DIM (16), TEMPORAL_WINDOW_LEN (256), TEMPORAL_N_CLASSES (4), and TEMPORAL_CLASSIFY_PERIOD_MS (1000). - main/CMakeLists.txt — adds temporal_task.c to SRCS unconditionally (the .c file feature-gates internally), and adds ruv_temporal to REQUIRES only when the feature is enabled so default builds don't pull in the Rust component. - main/adaptive_controller.c — fast_loop_cb now extracts the 9 feature floats from the pkt it just built and pushes them into temporal_task_push_frame after the existing stream_sender_send. Non-blocking; queue-full drops are coalesced and logged 1/sec. - main/main.c — temporal_task_start() called right after adaptive_controller_init(). Wrapped in #ifdef so feature-off builds don't reference the (no-op-anyway) function. - components/ruv_temporal/CMakeLists.txt — restructured. Top-level Kconfig guard registers an empty component when the feature is off (avoids running cargo without a working toolchain). add_custom_command moved AFTER idf_component_register so it doesn't fire in script mode (required by ESP-IDF v5.4). Validation: - Firmware builds clean with default config (feature OFF) on ESP-IDF v5.4 / esp32s3 target. Binary 1062 KiB / 2 MiB partition, 48 % free. - Static assertion catches wire-format drift (rv_temporal_pkt_t size). - Host-side `cargo test -p wifi-densepose-temporal` still 5/5 from the earlier commit (no regression, this commit only touches firmware/). Phase 7 (flash to COM8 + soak) deferred this iteration — board is currently not enumerating on COM8; will pick up next iteration when the ESP32 is reattached. Co-Authored-By: claude-flow <ruv@ruv.net>
50 lines
2.0 KiB
CMake
50 lines
2.0 KiB
CMake
# ESP-IDF component manifest for the ruv_temporal Rust staticlib (ADR-095).
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#
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# Build flow:
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# - When CONFIG_CSI_TEMPORAL_HEAD_ENABLED is OFF (default): register an
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# empty stub. main/temporal_task.c compiles the no-op shim path, no
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# cargo, no Rust toolchain dependency. Default firmware build is
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# unaffected.
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# - When CONFIG_CSI_TEMPORAL_HEAD_ENABLED is ON: invoke
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# `cargo +esp build --release --target xtensa-esp32s3-none-elf`,
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# register the resulting libruv_temporal.a, and expose include/.
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#
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# add_custom_command is intentionally placed AFTER idf_component_register
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# because ESP-IDF runs every component's CMakeLists.txt twice — once in
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# script mode for dependency discovery (where add_custom_command is
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# forbidden), and once for the actual build.
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if(NOT CONFIG_CSI_TEMPORAL_HEAD_ENABLED)
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# Feature disabled — register an empty component so the directory's
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# mere existence doesn't break the build, but do NOT invoke cargo
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# or pull include/ onto consumers' include paths (the C ABI header
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# would advertise capabilities we cannot honour).
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idf_component_register()
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return()
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endif()
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set(RUV_TEMPORAL_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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set(RUV_TEMPORAL_TARGET "xtensa-esp32s3-none-elf")
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set(RUV_TEMPORAL_PROFILE "release")
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set(RUV_TEMPORAL_LIB
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"${RUV_TEMPORAL_DIR}/target/${RUV_TEMPORAL_TARGET}/${RUV_TEMPORAL_PROFILE}/libruv_temporal.a")
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idf_component_register(
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SRCS "shim.c"
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INCLUDE_DIRS "include"
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PRIV_REQUIRES "esp_common"
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)
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# Custom command + target run only at build time, not in script mode.
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add_custom_command(
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OUTPUT "${RUV_TEMPORAL_LIB}"
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WORKING_DIRECTORY "${RUV_TEMPORAL_DIR}"
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COMMAND cargo +esp build --release --target ${RUV_TEMPORAL_TARGET}
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COMMENT "Building ruv_temporal Rust staticlib for ${RUV_TEMPORAL_TARGET}"
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VERBATIM
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)
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add_custom_target(ruv_temporal_rust_build ALL DEPENDS "${RUV_TEMPORAL_LIB}")
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add_dependencies(${COMPONENT_LIB} ruv_temporal_rust_build)
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target_link_libraries(${COMPONENT_LIB} INTERFACE "${RUV_TEMPORAL_LIB}")
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