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* feat(ADR-262 P3): live RuField surface — RuView sensing speaks RuField on /api/field + /ws/field Wire the P1 `wifi-densepose-rufield` bridge into the live `wifi-densepose-sensing-server` so the governed sensing cycle emits real signed RuField `FieldEvent`s on two additive endpoints. - Cargo: add the `wifi-densepose-rufield` path dep (the single coupling point, ADR-262 §5.4 — no new RuView-internal coupling). - New `src/rufield_surface.rs` (kept out of the 8k-line main.rs): `FieldSurface` holds a dedicated ed25519 `Signer` + a bounded ring of recent events + the `/ws/field` broadcast topic; `GET /api/field` and `GET /ws/field` handlers; a standalone `router()` for isolated testing. - Signer (defers the P2 key decision, ADR-262 §8 Q1): a STANDALONE dev/sensing key from `WDP_RUFIELD_SIGNING_SEED`, else a deterministic dev default with a logged WARN. Reusing the `cog-ha-matter` Ed25519 key is the deferred P2 call — P3 does not pre-empt it. - Tap: at the ESP32 governed-trust cycle (`main.rs` ~5886 observe_cycle / ~5938 SensingUpdate build), `emit_rufield_event` joins the cycle's features/classification/signal_field with the engine's effective_class/demoted trust state into a `SensingSnapshot` and surfaces it via the bridge. Existing endpoints (`/ws/sensing` etc.) are unchanged — purely additive. - Privacy egress: `network_egress_allowed` is fail-closed for an unattended live surface — only P1/P2 leave the box; P0 raw and P3/P4/P5 (identity/biometric/aggregate) are held edge-local. A `Derived` cycle maps to P4/P5 and never surfaces. - No-phantom: `emit` drops no-presence cycles (no fabricated events). Gates (tests/rufield_surface_test.rs, tower::oneshot, 4/0): well-formed signed event (WifiCsi, P2 not P1, is_fusable, real timestamp); empty cycle → no phantom; Derived trust never surfaces; mixed stream surfaces only egress-safe events. Honesty (ADR-262 §0/§6): real plumbing on a live endpoint, NOT accuracy. Single-link CSI with its existing caveats (no validated room-coordinate accuracy); dedicated dev signing key pending the P2 ownership decision; no accuracy claim. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(ADR-262 P3): mark P1+P3 implemented; document /api/field + /ws/field; CHANGELOG - ADR-262 Status → "P1 + P3 implemented"; add a P3 implementation-status block (tap site, endpoints, dedicated dev signer deferring the §8 Q1 key decision, fail-closed egress, gates). Keep the honesty framing: real plumbing on a live endpoint, not accuracy. - CHANGELOG [Unreleased]: add the ADR-262 P3 entry. - user-guide: add `/api/field` to the REST table + a "RuField surface (ADR-262 P3)" section covering `/api/field` + `/ws/field`, the fail-closed P1/P2-only egress, the WDP_RUFIELD_SIGNING_SEED dev key, and the no-accuracy honesty note. Co-Authored-By: claude-flow <ruv@ruv.net> * ci: checkout submodules everywhere + Dockerfile copies vendor/rufield Making wifi-densepose-rufield (ADR-262 bridge) a v2 workspace member means EVERY cargo-on-workspace context must have the vendor/rufield submodule present (cargo loads all member manifests). P1 only fixed the rust-tests job; this adds `submodules: recursive` to all workflow checkouts that run cargo (mqtt-integration was failing on the missing submodule manifest), and makes Dockerfile.rust COPY vendor/rufield/ to /vendor/rufield (matches the bridge's ../../../vendor/rufield path-dep under the collapsed Docker layout). update-submodules.yml left alone (it manages submodules itself). Co-Authored-By: claude-flow <ruv@ruv.net> --------- Co-authored-by: ruv <ruvnet@gmail.com>
Architecture Decision Records
This folder contains 45 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:
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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.
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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 |
| ADR-110 | ESP32-C6 firmware extension — Wi-Fi 6 / 802.15.4 / TWT / LP-core | Accepted, P1-P10 complete, firmware-side substrate closed at v0.7.0-esp32. Companion docs: WITNESS-LOG-110 (13 §A0.x entries · 99.56 % cross-board RX · 104.1 µs smoothed sync stdev · ≤100 µs target met), ADR-110-REVIEW-GUIDE (one-page reviewer tour), ADR-110-BRANCH-STATE (coordination map vs feat/adr-115-ha-mqtt-matter). Host decoders + tests: Python SyncPacketParser (10) + Rust wifi_densepose_hardware::SyncPacket (15), cross-language hex pin gates drift. |
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 |
| ADR-134 | First-Class Channel Impulse Response (CIR) Support | Proposed |
| ADR-135 | Empty-Room Baseline Calibration (per-subcarrier Welford statistics) | 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 |
| ADR-149 | AetherArena: public spatial-intelligence benchmark on Hugging Face | Proposed |
| ADR-150 | RF Foundation Encoder: pose-preserving, subject/room/device-invariant CSI embedding | Proposed |
| ADR-151 | Per-Room Calibration & Specialized Model Training (room-first → bank of small ruVector specialists) | Proposed |
| ADR-152 | WiFi-Pose SOTA 2026 Intake: geometry-conditioned calibration, external benchmarks, foundation-encoder recipe | 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 |
| ADR-115 | Home Assistant integration via MQTT auto-discovery + Matter bridge (HA-DISCO + HA-FABRIC + HA-MIND) | Accepted (MQTT track) / Proposed (Matter SDK P8b) |
| ADR-169 | adam-mode — light theme toggle for the three.js realtime demo | Proposed |
| ADR-170 | yoga-mode — yoga pose detection, classification, and scoring for the three.js realtime demo | Proposed |
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