ruvnet--RuView/CLAUDE.md

Claude Code Configuration — WiFi-DensePose + Claude Flow V3

Project: wifi-densepose

WiFi-based human pose estimation using Channel State Information (CSI). Dual codebase: Python v1 (v1/) and Rust port (v2/).

Key Rust Crates

Crate	Description
wifi-densepose-core	Core types, traits, error types, CSI frame primitives
wifi-densepose-signal	SOTA signal processing + RuvSense multistatic sensing (16 modules)
wifi-densepose-nn	Neural network inference (ONNX, PyTorch, Candle backends)
wifi-densepose-train	Training pipeline with ruvector integration + ruview_metrics; MAE pretraining recipe (mae.rs, ADR-152 §2.3) + WiFlow-STD port (wiflow_std/, tch-gated)
wifi-densepose-mat	Mass Casualty Assessment Tool — disaster survivor detection
wifi-densepose-hardware	ESP32 aggregator, TDM protocol, channel hopping firmware; ieee80211bf/ 802.11bf forward-compat protocol model (ADR-153)
wifi-densepose-ruvector	RuVector v2.0.4 integration + cross-viewpoint fusion (5 modules)
wifi-densepose-wasm	WebAssembly bindings for browser deployment
wifi-densepose-cli	CLI tool (wifi-densepose binary) — calibrate/calibrate-serve/enroll/train-room/room-watch + MAT (MAT gated behind the mat feature; build --no-default-features for the aarch64/appliance calibration binary)
wifi-densepose-calibration	ADR-151 per-room calibration & specialist training — baseline → enroll → extract → train → bank of small specialists (presence/posture/breathing/heartbeat/restlessness/anomaly) + multistatic fusion; pure Rust, edge-deployable
wifi-densepose-sensing-server	Lightweight Axum server for WiFi sensing UI
wifi-densepose-wifiscan	Multi-BSSID WiFi scanning (ADR-022)
wifi-densepose-vitals	ESP32 CSI-grade vital sign extraction (ADR-021)
nvsim	Deterministic NV-diamond magnetometer pipeline simulator (ADR-089) — standalone leaf, WASM-ready
vendor/rvcsi (submodule)	rvCSI — edge RF sensing runtime (ADR-095/096): 9 crates (rvcsi-core/-dsp/-events/-adapter-file/-adapter-nexmon/-ruvector/-runtime/-node/-cli). Lives in its own repo (github.com/ruvnet/rvcsi), vendored here under vendor/rvcsi, published to crates.io as rvcsi-* 0.3.x and to npm as @ruv/rvcsi. Not a v2/ workspace member — depend on the published crates (or the submodule's crates/rvcsi-* paths). Normalized CsiFrame/CsiWindow/CsiEvent schema, validate-before-FFI, reusable DSP, typed confidence-scored events, the napi-c Nexmon shim (real nexmon_csi .pcap from a Raspberry Pi 5 / 4 / 3B+ — BCM43455c0), the napi-rs SDK, the rvcsi CLI, a Claude Code plugin.
ruview-swarm	Drone swarm control system (ADR-148) — hierarchical-mesh topology, Raft consensus, MARL, CSI sensing payload, MAVLink/PX4 compat, Ruflo AI-agent integration

RuvSense Modules (signal/src/ruvsense/)

Module	Purpose
multiband.rs	Multi-band CSI frame fusion, cross-channel coherence
phase_align.rs	Iterative LO phase offset estimation, circular mean
multistatic.rs	Attention-weighted fusion, geometric diversity
coherence.rs	Z-score coherence scoring, DriftProfile
coherence_gate.rs	Accept/PredictOnly/Reject/Recalibrate gate decisions
pose_tracker.rs	17-keypoint Kalman tracker with AETHER re-ID embeddings
field_model.rs	SVD room eigenstructure, perturbation extraction
tomography.rs	RF tomography, ISTA L1 solver, voxel grid
longitudinal.rs	Welford stats, biomechanics drift detection
intention.rs	Pre-movement lead signals (200-500ms)
cross_room.rs	Environment fingerprinting, transition graph
gesture.rs	DTW template matching gesture classifier
adversarial.rs	Physically impossible signal detection, multi-link consistency
cir.rs	ADR-134 CSI→CIR via ISTA L1 sparse recovery (NeumannSolver warm-start)
calibration.rs	ADR-135 empty-room baseline (Welford amplitude + von Mises phase, drift trigger)

Cross-Viewpoint Fusion (ruvector/src/viewpoint/)

Module	Purpose
attention.rs	CrossViewpointAttention, GeometricBias, softmax with G_bias
geometry.rs	GeometricDiversityIndex, Cramer-Rao bounds, Fisher Information
coherence.rs	Phase phasor coherence, hysteresis gate
fusion.rs	MultistaticArray aggregate root, domain events

RuVector v2.0.4 Integration (ADR-016 complete, ADR-017 proposed)

All 5 ruvector crates integrated in workspace:

• ruvector-mincut → metrics.rs (DynamicPersonMatcher) + subcarrier_selection.rs
• ruvector-attn-mincut → model.rs (apply_antenna_attention) + spectrogram.rs
• ruvector-temporal-tensor → dataset.rs (CompressedCsiBuffer) + breathing.rs
• ruvector-solver → subcarrier.rs (sparse interpolation 114→56) + triangulation.rs
• ruvector-attention → model.rs (apply_spatial_attention) + bvp.rs

Architecture Decisions

43 ADRs in docs/adr/ (ADR-001 through ADR-043). Key ones:

• ADR-014: SOTA signal processing (Accepted)
• ADR-015: MM-Fi + Wi-Pose training datasets (Accepted)
• ADR-016: RuVector training pipeline integration (Accepted — complete)
• ADR-017: RuVector signal + MAT integration (Proposed — next target)
• ADR-024: Contrastive CSI embedding / AETHER (Accepted)
• ADR-027: Cross-environment domain generalization / MERIDIAN (Accepted)
• ADR-028: ESP32 capability audit + witness verification (Accepted)
• ADR-029: RuvSense multistatic sensing mode (Proposed)
• ADR-030: RuvSense persistent field model (Proposed)
• ADR-031: RuView sensing-first RF mode (Proposed)
• ADR-032: Multistatic mesh security hardening (Proposed)
• ADR-148: Drone swarm control system / ruview-swarm (In Progress)
• ADR-152: WiFi-Pose SOTA 2026 intake — geometry conditioning, WiFlow-STD benchmark (measurement (a) complete: claims MEASURED-EQUIVALENT at ~96% PCK@20), MAE recipe (Proposed; §2.1–2.3, 2.6 implemented)
• ADR-153: IEEE 802.11bf-2025 forward-compatibility protocol model (Accepted — amends ADR-152 §2.4)

Supported Hardware

Device	Port	Chip	Role	Cost
ESP32-S3 (8MB flash)	COM9 (ruvzen, was COM7)	Xtensa dual-core	WiFi CSI sensing node	~$9
ESP32-S3 SuperMini (4MB)	—	Xtensa dual-core	WiFi CSI (compact)	~$6
ESP32-C6 + Seeed MR60BHA2	COM12 (ruvzen, was COM4)	RISC-V + 60 GHz FMCW	mmWave HR/BR/presence + WiFi CSI	~$15
HLK-LD2410	—	24 GHz FMCW	Presence + distance	~$3

Not supported: ESP32 (original), ESP32-C3 — single-core, can't run CSI DSP pipeline.

Build & Test Commands (this repo)

# Rust — full workspace tests (1,031+ tests, ~2 min)
cd v2
cargo test --workspace --no-default-features

# Rust — single crate check (no GPU needed)
cargo check -p wifi-densepose-train --no-default-features

# Python — deterministic proof verification (SHA-256)
python archive/v1/data/proof/verify.py

# Python — test suite
cd archive/v1 && python -m pytest tests/ -x -q

ESP32 Firmware Build (Windows — Python subprocess required)

# Build 8MB firmware (real WiFi CSI mode, no mocks)
# See CLAUDE.local.md for the full Python subprocess command
# Key: must strip MSYSTEM env vars for ESP-IDF v5.4 on Git Bash

# Build 4MB firmware
cp sdkconfig.defaults.4mb sdkconfig.defaults
# then same build process

# Flash to COM7
# [python, idf_py, '-p', 'COM7', 'flash']

# Provision WiFi
python firmware/esp32-csi-node/provision.py --port COM7 \
  --ssid "YourWiFi" --password "secret" --target-ip 192.168.1.20

# Monitor serial
python -m serial.tools.miniterm COM7 115200

Firmware Release Process

1. Build 8MB from sdkconfig.defaults.template (no mock)
2. Build 4MB from sdkconfig.defaults.4mb (no mock)
3. Save 6 binaries: esp32-csi-node.bin, bootloader.bin, partition-table.bin, ota_data_initial.bin, esp32-csi-node-4mb.bin, partition-table-4mb.bin
4. Tag: git tag v0.X.Y-esp32 && git push origin v0.X.Y-esp32
5. Release: gh release create v0.X.Y-esp32 <binaries> --title "..." --notes-file ...
6. Verify on real hardware (COM7) before publishing
7. CRITICAL: Always test with real WiFi CSI, not mock mode — mock missed the Kconfig threshold bug

Crate Publishing Order

Crates must be published in dependency order:

1. wifi-densepose-core (no internal deps)
2. wifi-densepose-vitals (no internal deps)
3. wifi-densepose-wifiscan (no internal deps)
4. wifi-densepose-hardware (no internal deps)
5. wifi-densepose-signal (depends on core)
6. wifi-densepose-nn (no internal deps, workspace only)
7. wifi-densepose-ruvector (no internal deps, workspace only)
8. wifi-densepose-train (depends on signal, nn)
9. wifi-densepose-mat (depends on core, signal, nn)
10. wifi-densepose-wasm (depends on mat)
11. wifi-densepose-sensing-server (depends on wifiscan)
12. wifi-densepose-cli (depends on mat)

Validation & Witness Verification (ADR-028)

After any significant code change, run the full validation:

# 1. Rust tests — must be 1,031+ passed, 0 failed
cd v2
cargo test --workspace --no-default-features

# 2. Python proof — must print VERDICT: PASS
cd ..
python archive/v1/data/proof/verify.py

# 3. Generate witness bundle (includes both above + firmware hashes)
bash scripts/generate-witness-bundle.sh

# 4. Self-verify the bundle — must be 7/7 PASS
cd dist/witness-bundle-ADR028-*/
bash VERIFY.sh

If the Python proof hash changes (e.g., numpy/scipy version update):

# Regenerate the expected hash, then verify it passes
python archive/v1/data/proof/verify.py --generate-hash
python archive/v1/data/proof/verify.py

Witness bundle contents (dist/witness-bundle-ADR028-<sha>.tar.gz):

• WITNESS-LOG-028.md — 33-row attestation matrix with evidence per capability
• ADR-028-esp32-capability-audit.md — Full audit findings
• proof/verify.py + expected_features.sha256 — Deterministic pipeline proof
• test-results/rust-workspace-tests.log — Full cargo test output
• firmware-manifest/source-hashes.txt — SHA-256 of all 7 ESP32 firmware files
• crate-manifest/versions.txt — All 15 crates with versions
• VERIFY.sh — One-command self-verification for recipients

Key proof artifacts:

• archive/v1/data/proof/verify.py — Trust Kill Switch: feeds reference signal through production pipeline, hashes output
• archive/v1/data/proof/expected_features.sha256 — Published expected hash
• archive/v1/data/proof/sample_csi_data.json — 1,000 synthetic CSI frames (seed=42)
• docs/WITNESS-LOG-028.md — 11-step reproducible verification procedure
• docs/adr/ADR-028-esp32-capability-audit.md — Complete audit record

Branch

Default branch: main Active feature branch: ruvsense-full-implementation (PR #77)

---

Behavioral Rules (Always Enforced)

• Do what has been asked; nothing more, nothing less
• NEVER create files unless they're absolutely necessary for achieving your goal
• ALWAYS prefer editing an existing file to creating a new one
• NEVER proactively create documentation files (*.md) or README files unless explicitly requested
• NEVER save working files, text/mds, or tests to the root folder
• Never continuously check status after spawning a swarm — wait for results
• ALWAYS read a file before editing it
• NEVER commit secrets, credentials, or .env files

File Organization

• NEVER save to root folder — use the directories below
• docs/adr/ — Architecture Decision Records (43 ADRs)
• docs/ddd/ — Domain-Driven Design models
• v2/crates/ — Rust workspace crates (15 crates)
• v2/crates/wifi-densepose-signal/src/ruvsense/ — RuvSense multistatic modules (14 files)
• v2/crates/wifi-densepose-ruvector/src/viewpoint/ — Cross-viewpoint fusion (5 files)
• v2/crates/wifi-densepose-hardware/src/esp32/ — ESP32 TDM protocol
• firmware/esp32-csi-node/main/ — ESP32 C firmware (channel hopping, NVS config, TDM)
• archive/v1/src/ — Python source (core, hardware, services, api)
• archive/v1/data/proof/ — Deterministic CSI proof bundles
• .claude-flow/ — Claude Flow coordination state (committed for team sharing)
• .claude/ — Claude Code settings, agents, memory (committed for team sharing)

Project Architecture

• Follow Domain-Driven Design with bounded contexts
• Keep files under 500 lines
• Use typed interfaces for all public APIs
• Prefer TDD London School (mock-first) for new code
• Use event sourcing for state changes
• Ensure input validation at system boundaries

Project Config

• Topology: hierarchical-mesh
• Max Agents: 15
• Memory: hybrid
• HNSW: Enabled
• Neural: Enabled

Pre-Merge Checklist

Before merging any PR, verify each item applies and is addressed:

1. Rust tests pass — cargo test --workspace --no-default-features (1,031+ passed, 0 failed)
2. Python proof passes — python archive/v1/data/proof/verify.py (VERDICT: PASS)
3. README.md — Update platform tables, crate descriptions, hardware tables, feature summaries if scope changed
4. CLAUDE.md — Update crate table, ADR list, module tables, version if scope changed
5. CHANGELOG.md — Add entry under [Unreleased] with what was added/fixed/changed
6. User guide (docs/user-guide.md) — Update if new data sources, CLI flags, or setup steps were added
7. ADR index — Update ADR count in README docs table if a new ADR was created
8. Witness bundle — Regenerate if tests or proof hash changed: bash scripts/generate-witness-bundle.sh
9. Docker Hub image — Only rebuild if Dockerfile, dependencies, or runtime behavior changed
10. Crate publishing — Only needed if a crate is published to crates.io and its public API changed
11. .gitignore — Add any new build artifacts or binaries
12. Security audit — Run security review for new modules touching hardware/network boundaries

Build & Test

# Build
npm run build

# Test
npm test

# Lint
npm run lint

• ALWAYS run tests after making code changes
• ALWAYS verify build succeeds before committing

Security Rules

• NEVER hardcode API keys, secrets, or credentials in source files
• NEVER commit .env files or any file containing secrets
• Always validate user input at system boundaries
• Always sanitize file paths to prevent directory traversal
• Run npx @claude-flow/cli@latest security scan after security-related changes

Concurrency: 1 MESSAGE = ALL RELATED OPERATIONS

• All operations MUST be concurrent/parallel in a single message
• Use Claude Code's Task tool for spawning agents, not just MCP
• ALWAYS batch ALL todos in ONE TodoWrite call (5-10+ minimum)
• ALWAYS spawn ALL agents in ONE message with full instructions via Task tool
• ALWAYS batch ALL file reads/writes/edits in ONE message
• ALWAYS batch ALL Bash commands in ONE message

Swarm Orchestration

• MUST initialize the swarm using CLI tools when starting complex tasks
• MUST spawn concurrent agents using Claude Code's Task tool
• Never use CLI tools alone for execution — Task tool agents do the actual work
• MUST call CLI tools AND Task tool in ONE message for complex work

3-Tier Model Routing (ADR-026)

Tier	Handler	Latency	Cost	Use Cases
1	Agent Booster (WASM)	<1ms	$0	Simple transforms (var→const, add types) — Skip LLM
2	Haiku	~500ms	$0.0002	Simple tasks, low complexity (<30%)
3	Sonnet/Opus	2-5s	$0.003-0.015	Complex reasoning, architecture, security (>30%)

• Always check for [AGENT_BOOSTER_AVAILABLE] or [TASK_MODEL_RECOMMENDATION] before spawning agents
• Use Edit tool directly when [AGENT_BOOSTER_AVAILABLE]

Swarm Configuration & Anti-Drift

• ALWAYS use hierarchical topology for coding swarms
• Keep maxAgents at 6-8 for tight coordination
• Use specialized strategy for clear role boundaries
• Use raft consensus for hive-mind (leader maintains authoritative state)
• Run frequent checkpoints via post-task hooks
• Keep shared memory namespace for all agents

npx @claude-flow/cli@latest swarm init --topology hierarchical --max-agents 8 --strategy specialized

Swarm Execution Rules

• ALWAYS use run_in_background: true for all agent Task calls
• ALWAYS put ALL agent Task calls in ONE message for parallel execution
• After spawning, STOP — do NOT add more tool calls or check status
• Never poll TaskOutput or check swarm status — trust agents to return
• When agent results arrive, review ALL results before proceeding

V3 CLI Commands

Core Commands

Command	Subcommands	Description
init	4	Project initialization
agent	8	Agent lifecycle management
swarm	6	Multi-agent swarm coordination
memory	11	AgentDB memory with HNSW search
task	6	Task creation and lifecycle
session	7	Session state management
hooks	17	Self-learning hooks + 12 workers
hive-mind	6	Byzantine fault-tolerant consensus

Quick CLI Examples

npx @claude-flow/cli@latest init --wizard
npx @claude-flow/cli@latest agent spawn -t coder --name my-coder
npx @claude-flow/cli@latest swarm init --v3-mode
npx @claude-flow/cli@latest memory search --query "authentication patterns"
npx @claude-flow/cli@latest doctor --fix

Available Agents (60+ Types)

Core Development

coder, reviewer, tester, planner, researcher

Specialized

security-architect, security-auditor, memory-specialist, performance-engineer

Swarm Coordination

hierarchical-coordinator, mesh-coordinator, adaptive-coordinator

GitHub & Repository

pr-manager, code-review-swarm, issue-tracker, release-manager

SPARC Methodology

sparc-coord, sparc-coder, specification, pseudocode, architecture

Memory Commands Reference

# Store (REQUIRED: --key, --value; OPTIONAL: --namespace, --ttl, --tags)
npx @claude-flow/cli@latest memory store --key "pattern-auth" --value "JWT with refresh" --namespace patterns

# Search (REQUIRED: --query; OPTIONAL: --namespace, --limit, --threshold)
npx @claude-flow/cli@latest memory search --query "authentication patterns"

# List (OPTIONAL: --namespace, --limit)
npx @claude-flow/cli@latest memory list --namespace patterns --limit 10

# Retrieve (REQUIRED: --key; OPTIONAL: --namespace)
npx @claude-flow/cli@latest memory retrieve --key "pattern-auth" --namespace patterns

Quick Setup

claude mcp add claude-flow -- npx -y @claude-flow/cli@latest
npx @claude-flow/cli@latest daemon start
npx @claude-flow/cli@latest doctor --fix

Claude Code vs CLI Tools

• Claude Code's Task tool handles ALL execution: agents, file ops, code generation, git
• CLI tools handle coordination via Bash: swarm init, memory, hooks, routing
• NEVER use CLI tools as a substitute for Task tool agents

Support

• Documentation: https://github.com/ruvnet/claude-flow
• Issues: https://github.com/ruvnet/claude-flow/issues