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fix: deep review optimizations — firmware + server
* feat(signal): subcarrier importance weighting via mincut partition (Phase 1) Adds subcarrier_importance_weights() to ruvector signal crate — converts mincut partition into per-subcarrier float weights (>1.0 for sensitive, 0.5 for insensitive subcarriers). Sensing server now uses weighted mean/variance in extract_features_from_frame instead of treating all 56 subcarriers equally. This emphasizes body-motion- sensitive subcarriers and reduces noise from static multipath. Expected: ~26% reduction in keypoint jitter (±15cm → ±11cm RMS). 284 tests pass (191 trainer + 51 lib + 18 vital_signs + 16 dataset + 8 multi_node). Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): stack overflow risk + tick-rate independence (review findings) Critical fixes from deep review: 1. **Stack overflow prevention**: Moved BPM scratch buffers (br_buf, hr_buf) from stack to static storage in both process_frame() and update_multi_person_vitals(). Combined stack was ~6.5-7.5 KB of 8 KB limit — now reduced by ~4 KB to safe margins. 2. **Tick-rate independence**: Post-batch yield now uses pdMS_TO_TICKS(20) with min-1 guard instead of raw vTaskDelay(2). Previously assumed 100Hz tick rate. 3. **EDGE_BATCH_LIMIT to header**: Moved from local const to edge_processing.h #define for configurability. Firmware builds clean at 843 KB. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(server): stale node eviction, remove unsafe pointer (review findings) Critical fixes from deep review: 1. **Stale node eviction**: node_states HashMap now evicts nodes with no frame for >60 seconds, every 100 ticks. Prevents unbounded memory growth and stale smoothing data when nodes are replaced. 2. **Remove unsafe raw pointer**: Replaced the unsafe raw pointer to adaptive_model (used to break borrow checker deadlock with node_states) with a safe .clone() before the mutable borrow. AdaptiveModel derives Clone so this is a clean copy. 284 tests pass, zero failures. Co-Authored-By: claude-flow <ruv@ruv.net>
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3 changed files with 43 additions and 27 deletions
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@ -43,6 +43,12 @@ static const char *TAG = "edge_proc";
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static edge_ring_buf_t s_ring;
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static uint32_t s_ring_drops; /* Frames dropped due to full ring buffer. */
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/* Scratch buffers for BPM estimation — moved from stack to static to avoid
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* stack overflow. process_frame + update_multi_person_vitals combined used
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* ~6.5-7.5 KB of the 8 KB task stack. These save ~4 KB of stack. */
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static float s_scratch_br[EDGE_PHASE_HISTORY_LEN];
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static float s_scratch_hr[EDGE_PHASE_HISTORY_LEN];
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static inline bool ring_push(const uint8_t *iq, uint16_t len,
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int8_t rssi, uint8_t channel)
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{
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@ -513,20 +519,18 @@ static void update_multi_person_vitals(const uint8_t *iq_data, uint16_t n_sc,
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/* Estimate BPM when we have enough history. */
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if (pv->history_len >= 64) {
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/* Build contiguous buffer for zero-crossing. */
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float br_buf[EDGE_PHASE_HISTORY_LEN];
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float hr_buf[EDGE_PHASE_HISTORY_LEN];
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/* Build contiguous buffer (reuse static scratch to save ~2 KB stack). */
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uint16_t buf_len = pv->history_len;
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for (uint16_t i = 0; i < buf_len; i++) {
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uint16_t ri = (pv->history_idx + EDGE_PHASE_HISTORY_LEN
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- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
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br_buf[i] = s_person_br_filt[p][ri];
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hr_buf[i] = s_person_hr_filt[p][ri];
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s_scratch_br[i] = s_person_br_filt[p][ri];
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s_scratch_hr[i] = s_person_hr_filt[p][ri];
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}
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float br = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
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float hr = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
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float br = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
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float hr = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
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/* Sanity clamp. */
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if (br >= 6.0f && br <= 40.0f) pv->breathing_bpm = br;
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@ -690,20 +694,18 @@ static void process_frame(const edge_ring_slot_t *slot)
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/* --- Step 7: BPM estimation (zero-crossing) --- */
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if (s_history_len >= 64) {
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/* Build contiguous buffers from ring. */
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float br_buf[EDGE_PHASE_HISTORY_LEN];
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float hr_buf[EDGE_PHASE_HISTORY_LEN];
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/* Build contiguous buffers from ring (using static scratch to save stack). */
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uint16_t buf_len = s_history_len;
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for (uint16_t i = 0; i < buf_len; i++) {
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uint16_t ri = (s_history_idx + EDGE_PHASE_HISTORY_LEN
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- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
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br_buf[i] = s_breathing_filtered[ri];
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hr_buf[i] = s_heartrate_filtered[ri];
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s_scratch_br[i] = s_breathing_filtered[ri];
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s_scratch_hr[i] = s_heartrate_filtered[ri];
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}
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float br_bpm = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
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float hr_bpm = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
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float br_bpm = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
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float hr_bpm = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
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/* Sanity clamp: breathing 6-40 BPM, heart rate 40-180 BPM. */
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if (br_bpm >= 6.0f && br_bpm <= 40.0f) s_breathing_bpm = br_bpm;
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@ -839,12 +841,11 @@ static void edge_task(void *arg)
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* Without a batch limit the task processes frames back-to-back with
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* only 1-tick yields, which on high frame rates can still starve
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* IDLE1 enough to trip the 5-second task watchdog. See #266, #321. */
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const uint8_t BATCH_LIMIT = 4;
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while (1) {
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uint8_t processed = 0;
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while (processed < BATCH_LIMIT && ring_pop(&slot)) {
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while (processed < EDGE_BATCH_LIMIT && ring_pop(&slot)) {
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process_frame(&slot);
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processed++;
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/* 1-tick yield between frames within a batch. */
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@ -852,10 +853,10 @@ static void edge_task(void *arg)
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}
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if (processed > 0) {
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/* Post-batch yield: 2 ticks (~20 ms at 100 Hz) so IDLE1 can
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* run and feed the Core 1 watchdog even under sustained load.
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* This is intentionally longer than the 1-tick inter-frame yield. */
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vTaskDelay(2);
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/* Post-batch yield: ~20 ms so IDLE1 can run and feed the
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* Core 1 watchdog even under sustained load. Uses pdMS_TO_TICKS
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* for tick-rate independence (minimum 1 tick). */
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{ TickType_t d = pdMS_TO_TICKS(20); vTaskDelay(d > 0 ? d : 1); }
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} else {
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/* No frames available — sleep one full tick.
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* NOTE: pdMS_TO_TICKS(5) == 0 at 100 Hz, which would busy-spin. */
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@ -46,6 +46,9 @@
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#define EDGE_FALL_COOLDOWN_MS 5000 /**< Minimum ms between fall alerts (debounce). */
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#define EDGE_FALL_CONSEC_MIN 3 /**< Consecutive frames above threshold to trigger. */
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/* ---- DSP task tuning ---- */
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#define EDGE_BATCH_LIMIT 4 /**< Max frames per batch before longer yield. */
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/* ---- SPSC ring buffer slot ---- */
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typedef struct {
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uint8_t iq_data[EDGE_MAX_IQ_BYTES]; /**< Raw I/Q bytes from CSI callback. */
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