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* fix(signal): circular phase variance for ghost-tap guard (ADR-154 §7.4 #1) `phase_variance` computed a LINEAR sample variance over phase angles that wrap at ±π, so a tightly-clustered set straddling the branch cut reported spuriously HIGH dispersion — false-tripping the `> TAU` ghost-tap guard on real, tightly-clustered CIR taps. Replace with Mardia's circular variance V = 1 − R̄, bounded [0,1] and invariant to where the cluster sits on the circle. Re-derive the guard against the bounded metric via a named const `GHOST_TAP_CIRCULAR_VARIANCE_MAX` (the old TAU-scaled threshold is meaningless on [0,1]). Grade: metric fix MEASURED; threshold value DATA-GATED — a clean single-path ramp also sweeps the circle, so V alone cannot separate clean from unsanitized without labelled frames. Conservative default (0.99) errs toward never false-rejecting, strictly more permissive at the wrap boundary than the buggy linear guard. Fails-on-old test: `phase_variance_circular_not_fooled_by_branch_cut` — inlines the old linear variance to show it exceeds TAU on wrap-straddling phases while circular V≈0 and the guard no longer trips. Plus `phase_variance_circular_is_bounded_and_extremal` (V∈[0,1], V≈0 identical, V≈1 uniform). cargo test -p wifi-densepose-signal --no-default-features --features cir --lib → 432 passed, 0 failed. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(signal): pin Welford n=0/n=1 finiteness guard (ADR-154 §7.4 #10) The shared `WelfordStats` (field_model.rs, used by longitudinal.rs and others) relies on `count < 2` guards in `variance`/`sample_variance`/`std_dev`/ `z_score` to stay finite at the boundaries. The guards existed but the n=0 boundary was UNTESTED — exactly the §4 divide-by-(n−1) family the ADR groups this with. Add `welford_finite_at_n0_and_n1` asserting every statistic is finite and returns the documented sentinel (0.0) at n=0 and n=1, plus load-bearing doc comments on the two guards. Fails-on-old proof: with the `sample_variance` guard removed, the test FAILS with "attempt to subtract with overflow" at the `(self.count - 1)` underflow (0usize − 1); `variance` would similarly yield 0.0/0.0 = NaN. The guard is restored; the test pins it so a future regression is caught. Grade: MEASURED (boundary finiteness is asserted; the guard is the §4-family fix made testable). cargo test -p wifi-densepose-signal --no-default-features --lib field_model → 22 passed, 0 failed. Co-Authored-By: claude-flow <ruv@ruv.net> * refactor(signal): de-magic adversarial thresholds + boundary tests (ADR-154 §7.4 #13) Lift the bare numeric literals buried in `check`/`check_consistency` into named, documented module consts (FIELD_MODEL_GINI_VIOLATION=0.8, ENERGY_RATIO_HIGH_VIOLATION=2.0, ENERGY_RATIO_LOW_VIOLATION=0.1, CONSISTENCY_ACTIVE_FRACTION_OF_MEAN=0.1, SCORE_W_* weights). VALUES UNCHANGED — each const equals the original literal; only names + pinning tests are new. Grade: DATA-GATED. The operating values stay empirical (defensible values need labelled spoofed/clean CSI — Wi-Spoof, §6.2/§7.3). The de-magicking + characterization tests are MEASURED: `tuning_consts_unchanged_from_literals`, `energy_ratio_high_boundary`, `energy_ratio_low_boundary`, `field_model_gini_boundary`, `consistency_active_fraction_boundary` pin the decision boundaries at/just-below/just-above each threshold, so a future data-driven retune is a visible, tested change. Fails-on-change proof: bumping ENERGY_RATIO_HIGH_VIOLATION 2.0→3.0 makes `energy_ratio_high_boundary` FAIL (restored). Operating values explicitly NOT changed. cargo test -p wifi-densepose-signal --no-default-features --lib ruvsense::adversarial → 20 passed, 0 failed. Co-Authored-By: claude-flow <ruv@ruv.net> * refactor(signal): de-magic coherence drift/gate thresholds (ADR-154 §7.4 #9) Lift the bare detection literals in `coherence.rs::classify_drift` (DRIFT_STABLE_SCORE=0.85, DRIFT_STEP_CHANGE_MAX_STALE=10) and the `coherence_gate.rs` Default impl (DEFAULT_ACCEPT_THRESHOLD=0.85, DEFAULT_REJECT_THRESHOLD=0.5, DEFAULT_MAX_STALE_FRAMES=200, DEFAULT_PREDICT_ONLY_NOISE=3.0) into named, documented consts. VALUES UNCHANGED. The gate already exposed these via GatePolicyConfig (config seam); this names + pins the defaults. Grade: DATA-GATED. Operating values stay empirical (defensible Z-score thresholds need labelled stable/drifting coherence traces). De-magicking + boundary tests are MEASURED: `classify_drift_stable_score_boundary`, `classify_drift_stale_count_boundary` pin the at/just-below/just-above decisions; `drift_consts_unchanged_from_literals` / `gate_default_consts_unchanged_from_literals` pin the values. Operating values explicitly NOT changed. cargo test -p wifi-densepose-signal --no-default-features --lib ruvsense::coherence → 40 passed, 0 failed. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(adr-154): mark §7.4 P1 backlog cleared — Milestone-1 (#1,#10 RESOLVED; #9,#13 DATA-GATED) Update ADR-154 §7.4 backlog rows #1, #9, #10, #13 with commit refs + grades, the §7.4 intro count (four P1 items cleared, ~41 P2/P3 remain), the Horizon-ledger one-liner (Milestone-1 DONE), and the §8 honest-limits #1 line (metric now correct; threshold still DATA-GATED). Add CHANGELOG [Unreleased] entry. Grades: #1 RESOLVED (MEASURED metric / DATA-GATED threshold), #10 RESOLVED (MEASURED), #9 & #13 RESOLVED-PARTIAL (DATA-GATED — de-magicked + boundary tested, operating values unchanged). Validation: cargo test --workspace --no-default-features → 2057 passed, 0 failed; wifi-densepose-signal lib → 442 passed (no-default + --features cir); python archive/v1/data/proof/verify.py → VERDICT: PASS, hash f8e76f21…46f7a UNCHANGED (CIR ghost-tap guard is not on the deterministic proof path). Co-Authored-By: claude-flow <ruv@ruv.net> * fix(sensing-server): stop leaking internal errors in HTTP responses (ADR-080 #2) Six handlers in `main.rs` serialized the internal error `Display` straight into the JSON response body, leaking server internals to any client (ADR-080 finding #2, CWE-209; reframed onto the Rust boundary by ADR-164 G11): - edge_registry_endpoint: a panicked spawn_blocking `JoinError` ("task … panicked") in a 500, and the raw upstream error in a 503 - delete_model / delete_recording / start_recording: std::io::Error strings carrying OS detail / filesystem paths - calibration_start / calibration_stop: the FieldModel error chain New `error_response` module: `internal_error` / `internal_error_json` / `upstream_unavailable` log the full detail server-side only (tagged with a correlation id) and return a generic body (`{"error":"internal_error","correlation_id":…}`) — no `panicked`, no file paths, no Debug chain. The correlation id lets an operator join a client report to the exact server log line without ever shipping the detail. Pinned by 5 error_response tests, incl. a leak-substring guard (internal_error_body_does_not_leak_detail) verified to FAIL on the reverted old body (returns the panic message / path / "os error"). The HOMECORE sweep (ADR-161) covered homecore-server, not this crate. Co-Authored-By: claude-flow <ruv@ruv.net> * test(sensing-server): pin XFF-immunity + no-query-token (ADR-080 #1, #3) Findings #1 (XFF-spoofing bypass) and #3 (JWT-in-URL, CWE-598) were logged against the Python v1 API but are VERIFIED ABSENT on the current Rust sensing-server, so they get regression tests rather than redundant fixes: - #1 XFF: there is no IP-based rate-limiter or IP-allowlist to bypass, and neither security middleware reads a forwarded header. Added bearer_auth::xff_header_never_affects_auth_decision (spoofed X-Forwarded-For never flips a 401<->200 decision) and host_validation::forwarded_headers_never_bypass_host_allowlist (spoofed X-Forwarded-Host: localhost never lets Host: evil.com past the allowlist). - #3 JWT-in-URL: require_bearer reads the token only from the Authorization header; WS handlers take no query token; the sole Query extractor (EdgeRegistryParams) is a non-secret refresh flag. Added bearer_auth::query_string_token_is_never_accepted — ?token= / ?access_token= in the URL never authenticates (stays 401) while the header path still 200s. Verified to FAIL when a query-token path is injected into require_bearer. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(adr-080): mark P0 security findings #1-#3 RESOLVED; close ADR-164 G11 - ADR-080: Status note + per-finding closure (#1 XFF and #3 JWT-in-URL verified absent + regression-pinned; #2 leaked errors fixed via the error_response module). Records the v1-vs-Rust boundary distinction explicitly: v1 paths remain archived; this closure governs the shipped Rust sensing-server. - ADR-164: Gap Register G11 and the Open/Gated Backlog entry marked RESOLVED with the fix + branch reference. - CHANGELOG: [Unreleased] -> ### Security entry covering all three findings. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(adr): renumber 6 displaced ADRs to resolve duplicate-number collisions (ADR-164 G1) Resolves the 5 duplicate ADR numbers (6 displaced files) flagged by ADR-164 Gap Register item G1. Canonical keeper per number = first file committed at that number (date tie-broken by inbound cross-reference count / parent-appendix relationship). Displaced files renumbered to the next free numbers (166-171): 050 keeps provisioning-tool-enhancements (5 refs vs 1) -> ADR-166-quality-engineering-security-hardening 052 keeps tauri-desktop-frontend (parent ADR) -> ADR-167-ddd-bounded-contexts (its appendix) 147 keeps nvidia-cosmos/OccWorld (the actual ADR, has Status header) -> ADR-168-benchmark-proof (proof companion, no Status) -> ADR-169-adam-mode-light-theme (was untracked) 148 keeps drone-swarm-control-system (committed #862) -> ADR-170-yoga-mode-pose-system (was untracked) 149 keeps public-community-leaderboard-huggingface (committed 16:47 vs 17:38) -> ADR-171-swarm-benchmarking-evaluation-methodology Updates in-file `# ADR-NNN` headers and intra-file self-references (yoga-modes * docs(adr): repoint inbound cross-references to renumbered ADRs (166-171) Follow-up to the ADR renumbering (ADR-164 G1). Updates every inbound reference that pointed at a displaced ADR, disambiguating shared numbers by title/slug so only references to the DISPLACED topic move and keeper references stay put. ADR-168 (was 147 benchmark-proof): README, CHANGELOG, user-guide, proof-of-capabilities, research docs 00/03 — all path/label refs updated. ADR-169 (was 147 adam-mode) / ADR-170 (was 148 yoga-mode): docs/adr/README index. ADR-171 (was 149 swarm-benchmarking): all ruview-swarm eval code+docs (Cargo.toml, evals/, eval_swarm.rs, metrics/mod/report/runner.rs), research doc 03 (every §-ref matched ADR-171 sections, not AetherArena), 00-system-review, series README, CHANGELOG, and ADR-148's forward/"open issues" pointers. ADR-166 (was 050 quality-engineering / security-hardening): disambiguated from the ADR-050 provisioning KEEPER by topic. The HMAC/secure_tdm, directory-traversal, bind-address, and OTA-PSK-auth references in code comments (wifi-densepose-hardware Cargo.toml + secure_tdm.rs, sensing-server main.rs) and in ADR-052-tauri / ADR-167 all describe the security-hardening ADR -> ADR-166. ADR-167 (was 052 ddd-appendix): inbound appendix references. Index/registry updates: docs/adr/README.md, gap-analysis/census.md (rows + header count), gap-analysis/lens-findings.md (collision table marked RESOLVED), and ADR-164 Gap Register G1 marked RESOLVED with the full renumber map. Keeper references deliberately untouched: all ADR-147 OccWorld code, all ADR-148 drone-swarm code/docs, all ADR-149 AetherArena refs (incl. ADR-150's SSL/resampling refs, which ADR-150 explicitly binds to the AetherArena benchmark), ADR-050 provisioning refs, ADR-052 tauri refs. The frozen GitHub blob URLs in docs/adr/.issue-177-body.md (pinned to an old branch) are left as historical. Comment-only code edits; no behavior change. wifi-densepose-hardware compiles clean; the sensing-server build's sole blocker is the pre-existing upstream midstreamer-temporal-compare@0.2.1 registry crate, unrelated to these edits. Co-Authored-By: claude-flow <ruv@ruv.net>
166 lines
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Markdown
166 lines
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Markdown
# RuView System Review — Capability Audit (Beyond-SOTA Series, Doc 00)
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**Date:** 2026-06-09
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**Scope:** The RuView product surface (ADR-031) and the 38-crate Rust workspace under `v2/crates/` that implements it, plus the ADR corpus (`docs/adr/`, 150 numbered ADRs) and the prior research corpus (`docs/research/sota-2026-05-22/`).
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**Method:** Direct reads of `lib.rs`/`mod.rs` and key ADRs; static test counts via `grep -r '#[test]'` / `#[tokio::test]` per crate (counts are *static occurrences in source*, not CI pass counts). No metrics in this document are estimated — everything cited was read or measured in the working tree.
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---
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## 1. Executive Summary — What RuView IS Today
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RuView is **not a crate**. Per ADR-136 §2.1 (`docs/adr/ADR-136-ruview-streaming-engine-frame-contracts.md`), RuView is the sensing-first *product surface and brand* (ADR-031, status: Proposed) layered on the existing `wifi-densepose-*` / `homecore*` / `cog-*` workspace. ADR-136 explicitly **rejects** a `ruview_*` crate rename and pins a normative ten-role mapping (ingest / signal / fusion / world / models / privacy / store / api / eval / observe) onto the existing crates.
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What concretely exists:
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1. **A deep, heavily-tested signal-processing layer.** `wifi-densepose-signal` contains 473 static `#[test]` occurrences, including a 22-file `ruvsense/` bounded context (`v2/crates/wifi-densepose-signal/src/ruvsense/`) implementing the ADR-029 six-stage multistatic pipeline plus ADR-030/032a/134/135/137/138/142/143 extensions (~14,000 lines, 330 in-module tests measured by per-file grep).
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2. **A trust-traceable composition root.** `wifi-densepose-engine` (`src/lib.rs`, 752 lines, 11 tests) wires fusion quality (ADR-137), array coordination (ADR-138), evolution change-points (ADR-142), RF-SLAM anchors (ADR-143), the WorldGraph (ADR-139), and the BFLD privacy control plane (ADR-141) into one `StreamingEngine::process_cycle` (`lib.rs:285`) that emits a `TrustedOutput` (`lib.rs:80`) carrying evidence + model version + calibration version + privacy decision + a BLAKE3 witness (`lib.rs:437`).
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3. **A privacy layer with structural invariants.** `wifi-densepose-bfld` (20 modules, 369 tests) implements ADR-118–123/141: raw BFI never exits the node (I1), identity embeddings are RAM-only (I2), cross-site identity correlation is cryptographically impossible (I3) — stated at `wifi-densepose-bfld/src/lib.rs:7-11`.
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4. **A Home-Assistant-class world/state layer.** `homecore` + 9 sibling crates (state machine, event bus, plugins, automation, REST/WS API, recorder, HAP bridge, assist) — explicitly a "P1 scaffold" per `homecore/src/lib.rs:7` with deferred items listed at `lib.rs:24-31`.
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5. **A drone-swarm extension.** `ruview-swarm` (17 modules, ~9,000 lines in subdirectories, 115 + 19 async tests), ADR-148 self-reports ~98% complete with the remaining 15% of M3 gated on real ESP32-S3 hardware (`ADR-148:940-953`).
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6. **A large prior research corpus.** The 2026-05-22 autonomous SOTA loop: 41 ticks, 19 research threads (R1–R20), 22 numpy reference implementations, 7 ADRs, and a 6-tier production roadmap (`docs/research/sota-2026-05-22/00-summary.md`, `PRODUCTION-ROADMAP.md`).
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The critical caveat, stated by the project itself: the ADR-136–146 series is *"a skeleton and nervous system, not a shipping product… Most of the series is not yet wired into the live 20 Hz pipeline"* (ADR-136 §8). The engine crate's own docs confirm what is absent: *"the live 20 Hz I/O loop (sensing-server), UWB hardware (ADR-144), and model training (ADR-146)"* (`wifi-densepose-engine/src/lib.rs:27-29`).
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---
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## 2. Capability Matrix — Pipeline Role → Crates → Maturity
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Role mapping is normative per ADR-136 §2.1; maturity is this review's judgment from code + ADR status. Test counts: static `#[test]` + `#[tokio::test]` greps (2026-06-09).
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| Role | Crate(s) | Key modules | Tests (sync+async) | Maturity | Evidence |
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| **ingest** | `wifi-densepose-sensing-server`, `wifi-densepose-hardware`, `wifi-densepose-wifiscan` | `csi.rs`, `multistatic_bridge.rs`, `tracker_bridge.rs`, ESP32 TDM | 557+14, 137, 150 | **Production** (hardware-validated per ADR-028/039) | `sensing-server/src/` has 30+ modules incl. MQTT, Matter, RVF pipeline |
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| **signal** | `wifi-densepose-signal` (incl. `ruvsense/`) | 6-stage pipeline (`ruvsense/mod.rs:9-23`), `cir.rs`, `calibration.rs`, `hampel.rs`, `fresnel.rs`, `phase_sanitizer.rs` | 473 | **Production** (unit level); live multistatic wiring **beta** | §3 below; ADR-014 Accepted, ADR-029 Proposed |
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| **fusion** | `ruvsense/multistatic.rs`, `ruvsense/fusion_quality.rs`, `wifi-densepose-ruvector/src/viewpoint/` | `MultistaticFuser`, `QualityScore`, `CrossViewpointAttention`, GDI/Cramér-Rao (`viewpoint/geometry.rs`) | 20 (multistatic.rs), 3 (fusion_quality.rs), 136 (ruvector crate) | **Beta** — tested building blocks, composed only in `wifi-densepose-engine` tests | `viewpoint/mod.rs:1-30`; engine `lib.rs:317-319` |
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| **world** | `homecore`, `wifi-densepose-worldgraph`, `wifi-densepose-geo`, `wifi-densepose-worldmodel` | `StateMachine`, `EventBus`, `WorldGraph` (rooms/sensors/person-tracks/semantic states), ENU geo registration | 9+11, 7, 16+1, 12+1 | **Beta** — homecore is explicit "P1 scaffold"; persistence/service dispatch deferred to P2 | `homecore/src/lib.rs:7, 24-31`; ADR-127 Proposed |
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| **models** | `cog-pose-estimation`, `cog-person-count`, `wifi-densepose-nn`, `wifi-densepose-train`, `wifi-densepose-occworld-candle` | ONNX/Candle inference, training pipeline, OccWorld bridge | 7, 15, 30+1, 312, 12 | **Experimental** — no trained RF foundation encoder exists; ADR-147 benchmarked OccWorld with **random weights** | `ADR-168-benchmark-proof.md` ("random weights — pre-domain-fine-tuning baseline"); ADR-146/150 Proposed |
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| **privacy** | `wifi-densepose-bfld` | `privacy_gate.rs`, `privacy_mode.rs` (mode registry + hash-chained attestation), `identity_risk.rs`, `signature_hasher.rs`, `embedding_ring.rs` | 369 | **Beta** — strongest-tested layer, but lib header still says "Status: P1 in progress" (`lib.rs:12`, stale vs 20 implemented modules) | ADR-118–123, 141 all Proposed |
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| **store** | `homecore-recorder` | trajectory/event recording | 8+12 | **Experimental** | ADR-136 §2.1 |
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| **api** | `homecore-api`, `homecore-server`, `cog-ha-matter`, `homecore-hap` | REST/WS, HA discovery, Matter, HomeKit | 7+11, 0, 63+1, 15+2 | **Experimental→Beta** (`homecore-server` has zero tests) | ADR-130/125/115 Proposed |
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| **eval** | `wifi-densepose-train/src/ablation.rs`, `ruview-swarm/src/evals/` | ablation harness (ADR-145), swarm eval suite (ADR-171) | included in 312 / 115 | **Experimental** — ADR-145 self-labels "skeleton/scaffolding, mostly not yet on the live 20 Hz path" | `ablation.rs` exists; ADR-171 (swarm benchmarking, renumbered from ADR-149) Accepted |
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| **observe** | `homecore-automation`, `homecore-assist` | automation engine, assistant/Ruflo bridge | 20+14, 3+20 | **Experimental** | ADR-129/133 Proposed |
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| **(integration root)** | `wifi-densepose-engine` | `StreamingEngine`, `TrustedOutput`, privacy demotion, witness | 11 | **Beta** — the only crate that proves cross-role composition; not on a live I/O path | `engine/src/lib.rs:1-29, 457-751` |
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| **(swarm)** | `ruview-swarm` | Raft/gossip topology, RRT-APF planning, Candle PPO MARL, CSI sensing payload, failsafe, Ruflo | 115+19 | **Experimental/simulation** — M3 needs real ESP32-S3 hardware | ADR-148:940-953 ("Overall ~98%", M3 85%) |
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| **(adjacent)** | `nvsim`, `nvsim-server`, `ruv-neural`, `wifi-densepose-wasm-edge`, `wifi-densepose-mat`, `wifi-densepose-vitals` | NV-diamond sim, neural lib, WASM edge, MAT disaster tool, vitals | 50, 0, 364, 643, 165+9, 52 | Mixed — `mat`/`vitals`/`wasm-edge` mature unit-wise | crate listing |
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**Workspace totals (measured):** 3,890 `#[test]` + 121 `#[tokio::test]` static occurrences across `v2/crates/`. (CLAUDE.md's "1,031+ tests" figure refers to an earlier `cargo test --workspace` run count; this review did not execute the suite.)
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External vendored runtimes also present: `vendor/rvcsi` (ADR-095/096 edge RF runtime, own repo), `vendor/ruvector`, `vendor/midstream`, `vendor/sublinear-time-solver`.
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---
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## 3. Signal-Processing Capability Inventory — `ruvsense/`
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Location: `v2/crates/wifi-densepose-signal/src/ruvsense/`. CLAUDE.md says "16 modules"; the directory now contains **22 `.rs` files** (21 modules + `mod.rs`) — the table below is the ground truth. Lines/tests measured per file (2026-06-09).
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| Module | Lines | Tests | ADR | What it does |
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| `mod.rs` | 510 | 14 | 029 | Pipeline shell, COCO-17 keypoint constants, `RuvSensePipeline` (concrete fields + `tick()`), re-exports |
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| `multiband.rs` | 442 | 14 | 029 | Channel-hopping CSI → wideband virtual snapshot per node (`MultiBandCsiFrame`) |
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| `phase_align.rs` | 460 | 13 | 029 | LO phase-offset estimation via circular mean + `ruvector-solver::NeumannSolver` |
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| `multistatic.rs` | 957 | 20 | 029 | Attention-weighted N-node fusion → `FusedSensingFrame`; timestamp-spread guards |
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| `coherence.rs` | 474 | 19 | 029 | Per-subcarrier z-score coherence vs rolling template; `DriftProfile` |
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| `coherence_gate.rs` | 380 | 17 | 029 | Accept / PredictOnly / Reject / Recalibrate gate decisions |
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| `pose_tracker.rs` | 1,577 | 38 | 029/026/082 | 17-keypoint Kalman tracker, lifecycle state machine, AETHER re-ID embeddings, skeleton constraints, temporal keypoint attention |
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| `field_model.rs` | 1,417 | 22 | 030 | SVD room eigenstructure (persistent field model), perturbation extraction |
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| `tomography.rs` | 751 | 12 | 030 | RF tomography, ISTA L1 voxel solver |
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| `longitudinal.rs` | 1,020 | 20 | 030 | Welford long-horizon stats, biomechanics drift detection |
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| `intention.rs` | 511 | 12 | 030 | Pre-movement lead signals (200–500 ms) |
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| `cross_room.rs` | 626 | 13 | 030 | Environment fingerprinting + room-transition graph |
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| `gesture.rs` | 579 | 14 | 030 | DTW template-matching gesture classifier |
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| `adversarial.rs` | 586 | 13 | 030/032 | Physically-impossible-signal detection, multi-link consistency |
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| `attractor_drift.rs` | 566 | 15 | 032a | Midstream-enhanced attractor drift detection |
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| `temporal_gesture.rs` | 540 | 15 | 032a | Midstream temporal gesture stream |
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| `cir.rs` | 1,025 | 10 | 134 | CSI→CIR via ISTA L1 sparse recovery, NeumannSolver warm-start, `Complex32` sub-DFT Φ |
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| `calibration.rs` | 717 | 8 | 135 | Empty-room baseline (Welford amplitude + von Mises phase), drift-triggered recalibration |
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| `fusion_quality.rs` | 188 | 3 | 137 | `QualityScore` with `EvidenceRef`s, `ContradictionFlag`s, `CalibrationId`, privacy-demotion predicate |
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| `array_coordinator.rs` | 343 | 5 | 138 | Clock-quality gating + `DirectionalEvidence` (geometric admission) |
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| `evolution.rs` | 406 | 7 | 142 | Cross-link change-point detection, Bayesian `TemporalVoxelMap` (privacy-gated) |
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| `rf_slam.rs` | 301 | 6 | 143 | Persistent reflector discovery → static anchor learning (Wall/Furniture/Mobile classes) |
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Subtotal: ~14,400 lines, 310 tests inside `ruvsense/` alone. The non-ruvsense signal layer adds Hampel filtering, CSI-ratio, phase sanitisation, Fresnel modeling, BVP, spectrograms, subcarrier selection, and hardware normalisation (`signal/src/*.rs`).
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**Cross-viewpoint fusion** (`wifi-densepose-ruvector/src/viewpoint/`, 5 files): scaled dot-product attention with geometric bias (`attention.rs`), Geometric Diversity Index + Cramér-Rao bounds (`geometry.rs`), phase-phasor coherence with hysteresis + clock-quality gate (`coherence.rs`), and the `MultistaticArray` aggregate root (`fusion.rs`). 136 tests crate-wide.
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---
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## 4. The Trust Chain — What Actually Composes Today
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`wifi-densepose-engine/src/lib.rs` is the proof-of-composition. One `process_cycle` (`lib.rs:285-368`):
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1. ADR-138 array coordination (only if every node's geometry is registered, `lib.rs:372-389`)
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2. ADR-137 `fuse_scored_calibrated` with **per-node calibration epochs** — mismatching `CalibrationId`s raise a contradiction (`lib.rs:304-319`)
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3. ADR-142 change-point → WorldGraph `Event` node (`lib.rs:393-430`)
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4. ADR-141 monotonic privacy demotion on any contradiction (`demote_one`, `lib.rs:452-455`)
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5. ADR-139/140 `SemanticState` with mandatory provenance (evidence ‖ model ‖ calibration ‖ privacy decision) (`lib.rs:336-352`)
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6. BLAKE3 witness over the trust decision (`witness_of`, `lib.rs:437-448`)
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The 11 engine tests verify exactly the right invariants: full provenance flow (`cycle_carries_full_provenance`, `lib.rs:487`), contradiction→demotion (`lib.rs:517`), determinism (`lib.rs:535`), calibration-mismatch→Restricted+stable-witness (`lib.rs:648`), privacy-mode attestation chain (`lib.rs:741`), and persist→reload round-trip with **no raw RF in the snapshot** (`live_frame_to_reload_same_contents`, `lib.rs:696-736`).
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This is genuinely strong design. But all inputs are synthetic `MultiBandCsiFrame`s constructed in the test module; no ingest crate calls `StreamingEngine` yet.
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---
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## 5. Strengths
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1. **Deterministic witness chain, end to end in design.** ADR-028 proof (`archive/v1/data/proof/verify.py` + SHA-256), ADR-119 BLAKE3 frame witnesses (`bfld/src/signature_hasher.rs`), ADR-136 `CanonicalFrame`/`ComplexSample` LE contracts, and the engine's per-cycle trust witness form a coherent auditability story few sensing systems attempt.
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2. **Privacy as a control plane, not a feature.** BFLD's three structural invariants (`bfld/src/lib.rs:7-11`), hash-rotation (ADR-120), identity-risk scoring (ADR-121), mode registry with hash-chained attestations, and *monotonic* demotion wired to fusion contradictions (engine `lib.rs:327-328`) — uncertainty automatically reduces information release.
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3. **Multistatic fusion with physics-grounded quality.** Attention fusion + GDI + Cramér-Rao bounds + clock-quality gating means geometry and synchronisation deficits are first-class, measurable contradiction sources rather than silent failure modes.
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||
4. **Test density at the unit level.** 3,890 static test functions; the signal core (473), BFLD (369), and sensing-server (571) are the deepest. ruvsense files average ~14 tests/module.
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5. **Honest self-assessment culture.** ADR-136 §8's "skeleton, not a shipping product" framing, ADR-147's explicit "random weights" disclosure, and homecore's in-source TODO-P2 ledger (`homecore/src/lib.rs:24-31`) make the gap analysis below mostly a matter of reading what the project already admits.
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6. **A real prior research base with negative results.** The sota-2026-05-22 loop catalogued negatives by resolution path (missing-tool / architecture-error / physics-floor) and produced a ship-recipe (N=5 chest-centric placement, 100% coverage for 1–4 occupants) consolidated into ADR-113.
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7. **Hardware path exists and was audited.** ADR-028 (Accepted) and ADR-039 (Accepted, hardware-validated) anchor the ESP32-S3/C6 ingest tier; firmware release process includes real-CSI verification on COM ports.
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||
|
||
---
|
||
|
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## 6. Honest Gap Analysis — ADR vs Implemented vs Integrated
|
||
|
||
| Capability | ADR status | Code status | Integrated on live path? |
|
||
|---|---|---|---|
|
||
| Six-stage ruvsense pipeline | ADR-029 **Proposed** | Implemented + tested (310 tests) | Partially — sensing-server has `multistatic_bridge.rs`/`tracker_bridge.rs`, but `RuvSensePipeline` still holds concrete fields with `tick()` only (`mod.rs`); no uniform `Stage<I,O>` chain runs live |
|
||
| Frame contracts (`ComplexSample`, provenance fields, `Stage` traits) | ADR-136 Proposed | Built + 9 acceptance tests (per ADR-136 §8, commit `11f89727f`) | **No** — AC6 600-frame replay witness key and AC7 cross-arch CI matrix not done; provenance fields not populated by live calibration/model stages |
|
||
| Fusion quality / contradictions | ADR-137 Proposed | `fusion_quality.rs` (188 lines, 3 tests) + engine wiring | Engine-tests only |
|
||
| WorldGraph digital twin | ADR-139 Proposed | `wifi-densepose-worldgraph` (4 files, 7 tests) | Engine-tests only; no recorder-backed persistence loop |
|
||
| Privacy control plane | ADR-141 Proposed | `privacy_mode.rs` registry + attestation chain, tested | Engine-tests only; MQTT/HA exposure exists in BFLD but the *engine→BFLD sink* live path is unwired |
|
||
| UWB range fusion | ADR-144 Proposed | **No hardware, no crate** — acknowledged absent (`engine/src/lib.rs:28`) | No |
|
||
| Ablation/leakage eval harness | ADR-145 Proposed | `wifi-densepose-train/src/ablation.rs` exists | Self-labelled "skeleton/scaffolding" (ADR-145 §status) |
|
||
| RF encoder multi-task heads | ADR-146 Proposed | Not trained; `model_id`/`model_version` registry unowned | No — engine stamps `rfenc-v1` as a placeholder string (`lib.rs:338`) |
|
||
| RF foundation encoder | ADR-150 **Proposed** | ADR only | No |
|
||
| World-model forecasting (OccWorld) | ADR-147 (benchmark doc) | Runs on RTX 5080, 72.39M params — **random weights**, no domain checkpoint | No |
|
||
| HomeCore HA port | ADR-125–133 all Proposed | P1 scaffold + siblings; `homecore-server` has **0 tests**; persistence, service mpsc dispatch, device registry, witness integration all deferred (`homecore/src/lib.rs:24-31`) | Partially (API surfaces exist) |
|
||
| BFLD capture path (Nexmon/ESP32 BFI) | ADR-123 Proposed | rvCSI vendored runtime exists for nexmon `.pcap`; BFI-specific capture unverified in this review | Unclear |
|
||
| Drone swarm | ADR-148 In Progress | 17 modules, sim + Candle PPO complete per milestones | **Simulation only** — M3's 15% requires physical ESP32-S3 CSI capture (ADR-148:946) |
|
||
| Federation / DP-SGD / PQC | ADR-105–109 Proposed | `ruview-fed` crate **does not exist** (roadmap Tier 2 item) | No |
|
||
| Antenna-placement CLI (`plan-antennas`) | ADR-113 Proposed; Roadmap Tier 1.1 HIGH | numpy references only; not found as a Rust CLI subcommand | No |
|
||
|
||
**Pattern:** the unit layer is real and deep; the *integration* layer is one crate (`wifi-densepose-engine`) exercised solely by its own synthetic tests; the *model* layer (anything learned: RF encoder, pose model fine-tuned on CSI, OccWorld domain weights) is the emptiest tier. Nearly every ADR ≥118 carries status **Proposed** even where substantial tested code exists — ADR status hygiene lags implementation in both directions (BFLD code outruns its "P1 in progress" header; ADR-148's "98%" outruns its hardware evidence).
|
||
|
||
---
|
||
|
||
## 7. Risk Register
|
||
|
||
| # | Risk | Likelihood | Impact | Evidence / Notes |
|
||
|---|---|---|---|---|
|
||
| R1 | **Integration gap**: trust chain proven only against synthetic in-test frames; live 20 Hz ingest→engine→BFLD-sink path unwired, so the headline guarantee (auditable provenance on every emission) is unverified in production conditions | High | Critical | `engine/src/lib.rs:27-29`; ADR-136 §8 |
|
||
| R2 | **No trained model**: every learned component (RF encoder ADR-146/150, OccWorld ADR-147) is random-weight or absent; sensing claims beyond coherence/occupancy heuristics cannot ship | High | Critical | ADR-147 "random weights"; ADR-146/150 Proposed |
|
||
| R3 | **Synthetic-validation bias**: ruvsense/engine/swarm tests and the sota-loop results (e.g., R3 "100% (synthetic)", ADR-113 placement numbers) are simulation-derived; real-room domain gap unquantified | High | High | `00-summary.md:45`; PRODUCTION-ROADMAP 2.3 ("turns synthetic numbers into validated numbers") |
|
||
| R4 | **Witness chain incomplete at frame level**: `CsiFrame.data` is still `serde(skip)` (ADR-136 Gap 2); AC6 replay-witness key and AC7 cross-architecture matrix not landed — deterministic replay is a design, not a property | Medium | High | ADR-136 §1.1, §8 |
|
||
| R5 | **Float nondeterminism in fusion** across thread counts could silently break the witness/replay contract once wired | Medium | High | ADR-136 §3.3 risk table (project's own assessment) |
|
||
| R6 | **Privacy bypass via unwired paths**: BFLD invariants are enforced per-module, but until the engine is the *only* route from ingest to API, a sensing-server endpoint can emit ungated state (sensing-server already has 30+ modules incl. pose/vitals APIs predating the control plane) | Medium | Critical | `sensing-server/src/` module list vs engine isolation |
|
||
| R7 | **Hardware dependence + scale**: multistatic TDMA/channel-hopping timing validated on small ESP32 sets; ADR-148 M3 explicitly blocked on real hardware; clock-quality model in engine uses a hardcoded `ClockQualityScore` (`engine/src/lib.rs:384`) | Medium | High | ADR-148:946; hardcoded 50 µs stdev |
|
||
| R8 | **ADR/doc/status drift**: 150 ADRs with near-universal "Proposed" status, stale in-source status headers (`bfld/src/lib.rs:12`), CLAUDE.md "16 ruvsense modules" vs 22 on disk, duplicate ADR numbers (two ADR-050s, two ADR-147s, two ADR-149s, ADR-052 ×2 — **now RESOLVED: displaced files renumbered to ADR-166…171 per ADR-164 G1**) — institutional-memory value degrades | High | Medium | `ls docs/adr/`; this review §3 |
|
||
| R9 | **Workspace breadth vs maintenance capacity**: 38 workspace crates + 4 vendored subtrees + Python archive + firmware; several crates have 0 tests (`homecore-server`, `nvsim-server`, `wifi-densepose-wasm`, `homecore-plugin-example`); bus factor appears to be ~1 | High | Medium | crate test-count table §2 |
|
||
| R10 | **Eval debt**: no end-to-end accuracy benchmark on real CSI with ground truth exists in-repo (ADR-145 harness is scaffolding; ADR-079 camera ground truth not exercised here) — "beyond SOTA" claims are currently unfalsifiable | High | High | ADR-145 status note; absence of ground-truth datasets in tree |
|
||
|
||
---
|
||
|
||
## 8. Measurement Appendix
|
||
|
||
- Test counts: `grep -r '#[test]'` / `#[tokio::test]` per crate directory, 2026-06-09. Workspace totals: 3,890 / 121. Top crates: `wasm-edge` 643, `sensing-server` 557+14, `signal` 473, `bfld` 369, `ruv-neural` 364, `train` 312, `mat` 165+9, `wifiscan` 150, `hardware` 137, `ruvector` 136, `ruview-swarm` 115+19.
|
||
- ruvsense per-file lines/tests: `wc -l` + per-file `grep -c '#[test]'` (table in §3).
|
||
- Crate inventory: `ls v2/crates/` → 38 directories.
|
||
- ADR inventory: `ls docs/adr/` → 150 numbered files (with the duplicate numbers noted in R8); `docs/adr/README.md` self-reports "45 ADRs" (stale).
|
||
- Caveats: static `#[test]` counts include `#[cfg(feature = ...)]`-gated and ignored tests; they are an upper bound on what `cargo test --workspace --no-default-features` runs. No cargo build/test was executed for this review.
|
||
|
||
*Next in series: 01+ documents should target the R1/R2/R10 axis — wiring the live path, training the RF encoder, and standing up a falsifiable real-CSI benchmark — before any "beyond SOTA" claim is made.*
|