mirror of
https://github.com/ruvnet/RuView
synced 2026-06-23 12:33:18 +00:00
ruv
f23e34ee5c
`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>
Architecture Decision Records
This folder contains 44 Architecture Decision Records (ADRs) that document every significant technical choice in the RuView / WiFi-DensePose project.
Why ADRs?
Building a system that turns WiFi signals into human pose estimation involves hundreds of non-obvious decisions: which signal processing algorithms to use, how to bridge ESP32 firmware to a Rust pipeline, whether to run inference on-device or on a server, how to handle multi-person separation with limited subcarriers.
ADRs capture the context, options considered, decision made, and consequences for each of these choices. They serve three purposes:
-
Institutional memory — Six months from now, anyone (human or AI) can read why we chose IIR bandpass filters over FIR for vital sign extraction, not just see the code.
-
AI-assisted development — When an AI agent works on this codebase, ADRs give it the constraints and rationale it needs to make changes that align with the existing architecture. Without them, AI-generated code tends to drift — reinventing patterns that already exist, contradicting earlier decisions, or optimizing for the wrong tradeoffs.
-
Review checkpoints — Each ADR is a reviewable artifact. When a proposed change touches the architecture, the ADR forces the author to articulate tradeoffs before writing code, not after.
ADRs and Domain-Driven Design
The project uses Domain-Driven Design (DDD) to organize code into bounded contexts — each with its own language, types, and responsibilities. ADRs and DDD work together:
- ADRs define boundaries: ADR-029 (RuvSense) established multistatic sensing as a separate bounded context from single-node CSI. ADR-042 (CHCI) defined a new aggregate root for coherent channel imaging.
- DDD models define the language: The RuvSense domain model defines terms like "coherence gate", "dwell time", and "TDM slot" that ADRs reference precisely.
- Together they prevent drift: An AI agent reading ADR-039 knows that edge processing tiers are configured via NVS keys, not compile-time flags — because the ADR says so. The DDD model tells it which aggregate owns that configuration.
How ADRs are structured
Each ADR follows a consistent format:
- Context — What problem or gap prompted this decision
- Decision — What we chose to do and how
- Consequences — What improved, what got harder, and what risks remain
- References — Related ADRs, papers, and code paths
Statuses: Proposed (under discussion), Accepted (approved and/or implemented), Superseded (replaced by a later ADR).
ADR Index
Hardware and firmware
| ADR | Title | Status |
|---|---|---|
| ADR-012 | ESP32 CSI Sensor Mesh for Distributed Sensing | Accepted (partial) |
| ADR-018 | ESP32 Development Implementation Path | Proposed |
| ADR-028 | ESP32 Capability Audit and Witness Record | Accepted |
| ADR-029 | RuvSense Multistatic Sensing Mode (TDM, channel hopping) | Proposed |
| ADR-032 | Multistatic Mesh Security Hardening | Accepted |
| ADR-039 | ESP32-S3 Edge Intelligence Pipeline (on-device vitals) | Accepted (hardware-validated) |
| ADR-040 | WASM Programmable Sensing (Tier 3) | Accepted |
| ADR-041 | WASM Module Collection (65 edge modules) | Accepted (hardware-validated) |
| ADR-044 | Provisioning Tool Enhancements | Proposed |
Signal processing and sensing
| ADR | Title | Status |
|---|---|---|
| ADR-013 | Feature-Level Sensing on Commodity Gear | Accepted |
| ADR-014 | SOTA Signal Processing Algorithms | Accepted |
| ADR-021 | Vital Sign Detection (breathing, heart rate) | Partial |
| ADR-030 | Persistent Field Model and Drift Detection | Proposed |
| ADR-033 | CRV Signal Line Sensing Integration | Proposed |
| ADR-037 | Multi-Person Pose Detection from Single ESP32 | Proposed |
| ADR-042 | Coherent Human Channel Imaging (beyond CSI) | Proposed |
Machine learning and training
| ADR | Title | Status |
|---|---|---|
| ADR-005 | SONA Self-Learning for Pose Estimation | Partial |
| ADR-006 | GNN-Enhanced CSI Pattern Recognition | Partial |
| ADR-015 | Public Dataset Strategy (MM-Fi, Wi-Pose) | Accepted |
| ADR-016 | RuVector Training Pipeline Integration | Accepted |
| ADR-017 | RuVector Signal + MAT Integration | Proposed |
| ADR-020 | Migrate AI Inference to Rust (ONNX Runtime) | Accepted |
| ADR-023 | Trained DensePose Model with RuVector Pipeline | Proposed |
| ADR-024 | Project AETHER: Contrastive CSI Embeddings | Required |
| ADR-027 | Project MERIDIAN: Cross-Environment Generalization | Proposed |
Platform and UI
| ADR | Title | Status |
|---|---|---|
| ADR-019 | Sensing-Only UI with Gaussian Splats | Accepted |
| ADR-022 | Windows WiFi Enhanced Fidelity (multi-BSSID) | Partial |
| ADR-025 | macOS CoreWLAN WiFi Sensing | Proposed |
| ADR-031 | RuView Sensing-First RF Mode | Proposed |
| ADR-034 | Expo React Native Mobile App | Accepted |
| ADR-035 | Live Sensing UI Accuracy and Data Transparency | Accepted |
| ADR-036 | Training Pipeline UI Integration | Proposed |
| ADR-043 | Sensing Server UI API Completion (14 endpoints) | Accepted |
Architecture and infrastructure
| ADR | Title | Status |
|---|---|---|
| ADR-001 | WiFi-Mat Disaster Detection Architecture | Accepted |
| ADR-002 | RuVector RVF Integration Strategy | Superseded |
| ADR-003 | RVF Cognitive Containers for CSI | Proposed |
| ADR-004 | HNSW Vector Search for Fingerprinting | Partial |
| ADR-007 | Post-Quantum Cryptography for Sensing | Proposed |
| ADR-008 | Distributed Consensus for Multi-AP | Proposed |
| ADR-009 | RVF WASM Runtime for Edge Deployment | Proposed |
| ADR-010 | Witness Chains for Audit Trail Integrity | Proposed |
| ADR-011 | Proof-of-Reality and Mock Elimination | Proposed |
| ADR-026 | Survivor Track Lifecycle (MAT crate) | Accepted |
| ADR-038 | Sublinear GOAP for Roadmap Optimization | Proposed |
| ADR-095 | rvCSI — Edge RF Sensing Runtime Platform | Proposed |
| ADR-096 | rvCSI — Crate Topology, the napi-c Shim, and the napi-rs Node Surface | Proposed |
| ADR-097 | Adopt rvCSI as RuView's primary CSI runtime (phased adoption) | Proposed |
| ADR-098 | Evaluate ruvnet/midstream for RuView's CSI / WebSocket / mesh pipeline |
Rejected |
| ADR-099 | Adopt midstream as RuView's real-time introspection + low-latency tap | Proposed |
Related
- DDD Domain Models — Bounded context definitions, aggregate roots, and ubiquitous language
- User Guide — Setup, API reference, and hardware instructions
- Build Guide — Building from source