Claude
d53e29506e
ADR-081: implement Layers 1/2/4 end-to-end + host tests + QEMU hooks
...
Turns the ADR-081 scaffolding into a working adaptive CSI mesh kernel:
Layer 1 radio abstraction has an ESP32 binding and a mock binding; Layer 2
adaptive controller runs on FreeRTOS timers; Layer 4 feature-state packet
is emitted at 5 Hz by default, replacing raw ADR-018 CSI as the default
upstream.
New files:
firmware/esp32-csi-node/main/adaptive_controller_decide.c (pure policy)
firmware/esp32-csi-node/main/rv_radio_ops_mock.c (QEMU binding)
firmware/esp32-csi-node/tests/host/Makefile (host tests)
firmware/esp32-csi-node/tests/host/test_adaptive_controller.c
firmware/esp32-csi-node/tests/host/test_rv_feature_state.c
firmware/esp32-csi-node/tests/host/esp_err.h (shim)
firmware/esp32-csi-node/tests/host/.gitignore
Modified:
adaptive_controller.c — includes pure decide.c; emit_feature_state()
wired into fast loop (200 ms = 5 Hz)
rv_radio_ops_esp32.c — get_health() fills pkt_yield + send_fail
csi_collector.{c,h} — pkt_yield/send_fail accessors (ADR-081 L1)
rv_feature_state.h — packed size corrected to 60 bytes
(was incorrectly 80 in initial commit)
main.c — mock binding registered under mock CSI
CMakeLists.txt — rv_radio_ops_mock.c under CSI_MOCK_ENABLED
scripts/validate_qemu_output.py — 3 new ADR-081 checks (17/18/19)
docs/adr/ADR-081-*.md — status → Accepted (partial);
implementation-status matrix; measured
benchmarks (decide 3.2 ns, CRC32 614 ns);
bandwidth 300 B/s @ 5 Hz (99.7% vs raw);
verification section
CHANGELOG.md — artifact-level entries
Tests (host, gcc -O2 -std=c11):
test_adaptive_controller: 18/18 pass, decide() = 3.2 ns/call
test_rv_feature_state: 15/15 pass, CRC32(56 B) = 614 ns/pkt, 87 MB/s
sizeof(rv_feature_state_t) == 60 asserted
IEEE CRC32 known vectors verified
Deferred (tracked in ADR-081 roadmap Phase 3/4):
Layer 3 mesh-plane message types, role-assignment FSM, Rust-side mirror
trait in crates/wifi-densepose-hardware/src/radio_ops.rs.
2026-04-19 03:43:08 +00:00
Claude
9648a47fdc
ADR-081: adaptive CSI mesh firmware kernel + scaffolding
...
Introduces a 5-layer firmware kernel that reframes the existing ESP32
modules as components of a chipset-agnostic architecture and authorizes
adaptive control + a compact feature-state stream as the default upstream.
Layers:
L1 Radio Abstraction Layer — rv_radio_ops_t vtable + ESP32 binding
L2 Adaptive Controller — fast/medium/slow loops (200ms/1s/30s)
L3 Mesh Sensing Plane — anchor/observer/relay/coordinator (spec)
L4 On-device Feature Extr. — rv_feature_state_t (magic 0xC5110006)
L5 Rust handoff — feature_state default; debug raw gated
Files:
docs/adr/ADR-081-adaptive-csi-mesh-firmware-kernel.md (new)
firmware/esp32-csi-node/main/rv_radio_ops.h (new)
firmware/esp32-csi-node/main/rv_radio_ops_esp32.c (new)
firmware/esp32-csi-node/main/rv_feature_state.{h,c} (new)
firmware/esp32-csi-node/main/adaptive_controller.{h,c} (new)
firmware/esp32-csi-node/main/main.c (wire L1+L2)
firmware/esp32-csi-node/main/CMakeLists.txt (add 4 sources)
firmware/esp32-csi-node/main/Kconfig.projbuild (controller knobs)
CHANGELOG.md (Unreleased)
Default policy is conservative: enable_channel_switch and
enable_role_change are off, so behavior matches today's firmware
unless an operator opts in via menuconfig. The pure
adaptive_controller_decide() is exposed for offline unit tests.
Reuses (does not rewrite): csi_collector, edge_processing (ADR-039),
swarm_bridge (ADR-066), secure_tdm (ADR-032), wasm_runtime (ADR-040).
2026-04-19 03:14:04 +00:00
ruv
425f0e6aac
fix(firmware): defensive node_id capture prevents runtime clobber ( #390 )
...
Users on multi-node ESP32 deployments have been reporting for months
that their provisioned `node_id` reverts to the Kconfig default of `1`
in UDP frames and the `csi_collector` init log, despite boot showing:
nvs_config: NVS override: node_id=4
main: ESP32-S3 CSI Node (ADR-018) - Node ID: 4
csi_collector: CSI collection initialized (node_id=1, channel=11)
See #232 , #375 , #385 , #386 , #390 . The root memory-corruption path for
the `g_nvs_config.node_id` byte has not been definitively isolated
(does not reproduce on my attached ESP32-S3 running current source
and the v0.6.0 release binary), but the UDP frame header can be made
tamper-proof regardless:
1. `csi_collector_init()` now captures `g_nvs_config.node_id` into a
module-local `static uint8_t s_node_id` at init time.
2. `csi_serialize_frame()` reads `buf[4]` from `s_node_id`, not from
the global - so any later corruption of `g_nvs_config` cannot
affect outgoing CSI frames.
3. All other consumers (`edge_processing.c` x3, `wasm_runtime.c`,
`display_ui.c`, `main.c swarm_bridge_init`) now go through a new
`csi_collector_get_node_id()` accessor instead of reading the
global directly.
4. A canary at end-of-init logs `WARN` if `g_nvs_config.node_id`
already diverges from the captured value - this will pinpoint
the corruption path if it happens on a user's device.
Hardware validation on attached ESP32-S3 (COM8):
- NVS loads node_id=2
- Boot log: `main: ... Node ID: 2`
- NEW log: `csi_collector: Captured node_id=2 at init (defensive
copy for #232/#375/#385/#390)`
- Init log: `csi_collector: CSI collection initialized (node_id=2)`
- UDP frame byte[4] = 2 (verified via socket sniffer, 15/15 packets)
This is defense in depth - it shields the UDP frame from whatever
upstream bug is clobbering the struct. When a user hits the original
bug, the canary WARN will help isolate the root cause.
Refs #232 #375 #385 #386 #390
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-04-15 13:47:34 -04:00
ruv
b5e924cd72
fix: embed firmware version from version.txt, log at boot ( #354 )
...
Continuous Deployment / Post-deployment Monitoring (push) Blocked by required conditions
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Firmware CI / Build ESP32-S3 Firmware (push) Has been cancelled
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Firmware QEMU Tests (ADR-061) / Swarm Test (ADR-062) (push) Has been cancelled
- Add version.txt (0.6.0) read by CMakeLists.txt so
esp_app_get_description()->version matches the release tag
- Log firmware version on boot: "v0.6.0 — Node ID: X"
- Remove stale Kconfig help text (said default 2.0, actual is 15.0)
Fixes the version mismatch reported in #354 where flashing v0.5.3
binaries showed v0.4.3 because PROJECT_VER was never set.
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-04-06 11:26:58 -04:00
ruv
9d70d621da
feat: ADR-073 enable multi-frequency channel hopping from NVS
...
- main.c: call csi_collector_set_hop_table() at boot when hop_count > 1
- provision.py: add --hop-channels and --hop-dwell flags, write chan_list
blob and dwell_ms to NVS matching firmware's expected format
- Validated: Node 1 hopping ch 1/6/11, Node 2 hopping ch 3/5/9,
200ms dwell, null subcarriers reduced from 19% to 16%
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-04-03 00:26:22 -04:00
rUv
2b8a7cc458
feat: happiness scoring pipeline + ESP32 swarm with Cognitum Seed ( #285 )
...
* feat: happiness scoring pipeline with ESP32 swarm + Cognitum Seed coordinator
ADR-065: Hotel guest happiness scoring from WiFi CSI physiological proxies.
ADR-066: ESP32 swarm with Cognitum Seed as coordinator for multi-zone analytics.
Firmware:
- swarm_bridge.c/h: FreeRTOS task on Core 0, HTTP client with Bearer auth,
registers with Seed, sends heartbeats (30s) and happiness vectors (5s)
- nvs_config: seed_url, seed_token, zone_name, swarm intervals
- provision.py: --seed-url, --seed-token, --zone CLI args
- esp32-hello-world: capability discovery firmware for 4MB ESP32-S3 variant
WASM edge modules:
- exo_happiness_score.rs: 8-dim happiness vector from gait speed, stride
regularity, movement fluidity, breathing calm, posture, dwell time
(events 690-694, 11 tests, ESP32-optimized buffers + event decimation)
- ghost_hunter.rs standalone binary: 5.7 KB WASM, feature-gated default pipeline
RuView Live:
- --mode happiness dashboard with bar visualization
- --seed flag for Cognitum Seed bridge (urllib, background POST)
- HappinessScorer + SeedBridge classes (stdlib only, no deps)
Examples:
- seed_query.py: CLI tool (status, search, witness, monitor, report)
- provision_swarm.sh: batch provisioning for multi-node deployment
- happiness_vector_schema.json: 8-dim vector format documentation
Verified live: ESP32 on COM5 (4MB flash) registered with Seed at 10.1.10.236,
vectors flowing, witness chain growing (epoch 455, chain 1108).
Co-Authored-By: claude-flow <ruv@ruv.net>
* ci: raise firmware binary size gate to 1100 KB for HTTP client stack
The swarm bridge (ADR-066) adds esp_http_client for Seed communication,
which pulls in the HTTP/TLS stack (~150 KB). Binary grew from ~978 KB to
~1077 KB. Raise the gate from 950 KB to 1100 KB. Still fits comfortably
in both 4MB (1856 KB OTA slot, 43% free) and 8MB flash variants.
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-20 18:46:34 -04:00
rUv
66e2fa0835
feat: ADR-063/064 mmWave sensor fusion + multimodal ambient intelligence ( #269 )
...
* docs: ADR-063 mmWave sensor fusion with WiFi CSI
60 GHz mmWave radar (Seeed MR60BHA2, HLK-LD2410/LD2450) fusion
with WiFi CSI for dual-confirm fall detection, clinical-grade
vitals, and self-calibrating CSI pipeline.
Covers auto-detection, 6 supported sensors, Kalman fusion,
extended 48-byte vitals packet, RuVector/RuvSense integration
points, and 6-phase implementation plan.
Based on live hardware capture from ESP32-C6 + MR60BHA2 on COM4.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(firmware): ADR-063 mmWave sensor fusion — full implementation
Phase 1-2 of ADR-063:
mmwave_sensor.c/h:
- MR60BHA2 UART parser (60 GHz: HR, BR, presence, distance)
- LD2410 UART parser (24 GHz: presence, distance)
- Auto-detection: probes UART for known frame headers at boot
- Mock generator for QEMU testing (synthetic HR 72±2, BR 16±1)
- Capability flag registration per sensor type
edge_processing.c/h:
- 48-byte fused vitals packet (magic 0xC5110004)
- Kalman-style fusion: mmWave 80% + CSI 20% when both available
- Automatic fallback to CSI-only 32-byte packet when no mmWave
- Dual presence flag (Bit3 = mmwave_present)
main.c:
- mmwave_sensor_init() called at boot with auto-detect
- Status logged in startup banner
Fuzz stubs updated for mmwave_sensor API.
Build verified: QEMU mock build passes.
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(firmware): correct MR60BHA2 + LD2410 UART protocols (ADR-063)
MR60BHA2: SOF=0x01 (not 0x5359), XOR+NOT checksums on header and
data, frame types 0x0A14 (BR), 0x0A15 (HR), 0x0A16 (distance),
0x0F09 (presence). Based on Seeed Arduino library research.
LD2410: 256000 baud (not 115200), 0xAA report head marker,
target state byte at offset 2 (after data_type + head_marker).
Auto-detect: probes MR60 at 115200 first, then LD2410 at 256000.
Sets final baud rate after detection.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat: ADR-063 Phase 6 server-side mmWave + CSI fusion bridge
Python script reads both serial ports simultaneously:
- COM4 (ESP32-C6 + MR60BHA2): parses ESPHome debug output for HR, BR, presence, distance
- COM7 (ESP32-S3): reads CSI edge processing frames
Kalman-style fusion: mmWave 80% + CSI 20% for vitals, OR gate for presence.
Verified on real hardware: mmWave HR=75bpm, BR=25/min at 52cm range,
CSI frames flowing concurrently. Both sensors live for 30 seconds.
Co-Authored-By: claude-flow <ruv@ruv.net>
* docs: ADR-064 multimodal ambient intelligence roadmap
25+ applications across 4 tiers from practical to exotic:
- Tier 1 (build now): zero-FP fall detection, sleep monitoring,
occupancy HVAC, baby breathing, bathroom safety
- Tier 2 (research): gait analysis, stress detection, gesture
control, respiratory screening, multi-room activity
- Tier 3 (frontier): cardiac arrhythmia, RF tomography, sign
language, cognitive load, swarm sensing
- Tier 4 (exotic): emotion contagion, lucid dreaming, plant
monitoring, pet behavior
Priority matrix with effort estimates. All P0-P1 items work with
existing hardware (ESP32-S3 + MR60BHA2 + BH1750).
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(ci): add ESP_ERR_NOT_FOUND to fuzz stubs
mmwave_sensor stub returns ESP_ERR_NOT_FOUND which wasn't
defined in the minimal esp_stubs.h for host-based fuzz testing.
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-15 16:10:10 -04:00
rUv
523be943b0
feat: QEMU ESP32-S3 testing platform + swarm configurator (ADR-061/062) ( #260 )
...
9-layer QEMU testing platform (ADR-061) and YAML-driven swarm
configurator (ADR-062) for ESP32-S3 firmware testing without hardware.
12 commits, 56 files, +9,500 lines. Tested on Windows with
Espressif QEMU 9.0.0 — firmware boots, mock CSI generates frames,
14/16 validation checks pass. 39 bugs found and fixed across
2 deep code reviews.
Closes #259
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-14 13:39:51 -04:00
ruv
8b57a6f64c
docs: update README with ADR-045–048, Observatory, adaptive classifier, AMOLED display
...
- Update ADR count from 44 to 48
- Add adaptive classifier (ADR-048) to Intelligence features
- Add Observatory visualization (ADR-047) and AMOLED display (ADR-045) to Deployment features
- Update screenshot to v2-screen.png
- Add ADR-045 (AMOLED), ADR-046 (Android TV), ADR-047 (Observatory), DDD deployment model
- Add AMOLED display firmware (display_hal, display_task, display_ui, LVGL config)
- Add Observatory UI (13 Three.js modules, CSS, HTML entry point)
- Add trained adaptive model JSON
- Update .gitignore for managed_components, recordings, .swarm
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-05 10:20:48 -05:00
ruv
4b1005524e
feat: complete vendor repos, add edge intelligence and WASM modules
...
- Add 154 missing vendor files (gitignore was filtering them)
- vendor/midstream: 564 files (was 561)
- vendor/sublinear-time-solver: 1190 files (was 1039)
- Add ESP32 edge processing (ADR-039): presence, vitals, fall detection
- Add WASM programmable sensing (ADR-040/041) with wasm3 runtime
- Add firmware CI workflow (.github/workflows/firmware-ci.yml)
- Add wifi-densepose-wasm-edge crate for edge WASM modules
- Update sensing server, provision.py, UI components
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-02 23:53:25 -05:00
rUv
915943cef4
feat: ESP32 CSI MAC address filtering with NVS/Kconfig support ( #101 )
...
* feat: add MAC address filter for ESP32 CSI collection
In multi-AP environments, CSI frames from different access points get
mixed together, corrupting the sensing signal. Add transmitter MAC
filtering so only frames from a specified AP are processed.
Implementation:
- csi_collector: filter in wifi_csi_callback by comparing info->mac
against configured MAC; log transmitter MAC in periodic debug output
- csi_collector_set_filter_mac(): runtime API to enable/disable filter
- Kconfig: CSI_FILTER_MAC option (format "AA:BB:CC:DD:EE:FF")
- NVS: "filter_mac" 6-byte blob overrides Kconfig at runtime
- nvs_config: parse Kconfig MAC string at boot, load NVS override
- main: apply filter from config after csi_collector_init()
When no filter is configured (default), behavior is unchanged —
all transmitter MACs are accepted for backward compatibility.
Fixes #98
Co-Authored-By: claude-flow <ruv@ruv.net>
* chore: add CLAUDE.local.md to .gitignore
Local machine configuration (ESP-IDF paths, COM port, build
instructions) should not be committed to the repository.
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-03-02 17:08:27 -05:00
ruv
7872987ee6
fix(docker): Update Dockerfile paths from src/ to v1/src/
...
The source code was moved to v1/src/ but the Dockerfile still
referenced src/ directly, causing build failures. Updated all
COPY paths, uvicorn module paths, test paths, and bandit scan
paths. Also added missing v1/__init__.py for Python module
resolution.
Fixes #33
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-02-28 13:38:21 -05:00
rUv
92a5182dc3
feat(adr-018): ESP32-S3 firmware, Rust aggregator, and live CSI pipeline
...
Complete end-to-end WiFi CSI capture pipeline verified on real hardware:
- ESP32-S3 firmware: WiFi STA + promiscuous mode CSI collection,
ADR-018 binary serialization, UDP streaming at ~20 Hz
- Rust aggregator CLI binary (clap): receives UDP frames, parses with
Esp32CsiParser, prints per-frame summary (node, seq, rssi, amp)
- UDP aggregator module with per-node sequence tracking and drop detection
- CsiFrame bridge to detection pipeline (amplitude/phase/SNR conversion)
- Python ESP32 binary parser with UDP reader
- Presence detection confirmed: motion score 10/10 from live CSI variance
Hardware verified: ESP32-S3-DevKitC-1 (CP2102, MAC 3C:0F:02:EC:C2:28),
Docker ESP-IDF v5.2 build, esptool 5.1.0 flash, 20 Rust + 6 Python tests pass.
Co-Authored-By: claude-flow <ruv@ruv.net>
2026-02-28 13:22:04 -05:00
