* fix(firmware,server): watchdog crash on busy LANs + no detection from edge vitals (#321, #323) **Firmware (#321):** edge_dsp task now batch-limits frame processing to 4 frames before a 10ms yield. On corporate LANs with high CSI frame rates, the previous 1-tick-per-frame yield wasn't enough to prevent IDLE1 starvation and task watchdog triggers. **Sensing server (#323):** When ESP32 runs the edge DSP pipeline (Tier 2+), it sends vitals packets (magic 0xC5110002) instead of raw CSI frames. Previously, the server broadcast these as raw edge_vitals but never generated a sensing_update, so the UI showed "connected" but "0 persons". Now synthesizes a full sensing_update from vitals data including classification, person count, and pose generation. Closes #321 Closes #323 Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): address review findings — idle busy-spin and observability - Fix pdMS_TO_TICKS(5)==0 at 100Hz causing busy-spin in idle path (use vTaskDelay(1) instead) - Post-batch yield now 2 ticks (20ms) for genuinely longer pause - Add s_ring_drops counter to ring_push for diagnosing frame drops - Expose drop count in periodic vitals log line Co-Authored-By: claude-flow <ruv@ruv.net> * fix(server): set breathing_band_power for skeleton animation from vitals When presence is detected via edge vitals, set breathing_band_power to 0.5 so the UI's torso breathing animation works. Previously hardcoded to 0.0 which made the skeleton appear static even when breathing rate was being reported. Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
rUv
GitHub
parent
022499b2f5
commit
40f19622af
|
|
@ -41,12 +41,14 @@ static const char *TAG = "edge_proc";
|
|||
* ====================================================================== */
|
||||
|
||||
static edge_ring_buf_t s_ring;
|
||||
static uint32_t s_ring_drops; /* Frames dropped due to full ring buffer. */
|
||||
|
||||
static inline bool ring_push(const uint8_t *iq, uint16_t len,
|
||||
int8_t rssi, uint8_t channel)
|
||||
{
|
||||
uint32_t next = (s_ring.head + 1) % EDGE_RING_SLOTS;
|
||||
if (next == s_ring.tail) {
|
||||
s_ring_drops++;
|
||||
return false; /* Full — drop frame. */
|
||||
}
|
||||
|
||||
|
|
@ -788,12 +790,13 @@ static void process_frame(const edge_ring_slot_t *slot)
|
|||
|
||||
if ((s_frame_count % 200) == 0) {
|
||||
ESP_LOGI(TAG, "Vitals: br=%.1f hr=%.1f motion=%.4f pres=%s "
|
||||
"fall=%s persons=%u frames=%lu",
|
||||
"fall=%s persons=%u frames=%lu drops=%lu",
|
||||
s_breathing_bpm, s_heartrate_bpm, s_motion_energy,
|
||||
s_presence_detected ? "YES" : "no",
|
||||
s_fall_detected ? "YES" : "no",
|
||||
(unsigned)s_latest_pkt.n_persons,
|
||||
(unsigned long)s_frame_count);
|
||||
(unsigned long)s_frame_count,
|
||||
(unsigned long)s_ring_drops);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -831,18 +834,32 @@ static void edge_task(void *arg)
|
|||
|
||||
edge_ring_slot_t slot;
|
||||
|
||||
/* Maximum frames to process before a longer yield. On busy LANs
|
||||
* (corporate networks, many APs), the ring buffer fills continuously.
|
||||
* Without a batch limit the task processes frames back-to-back with
|
||||
* only 1-tick yields, which on high frame rates can still starve
|
||||
* IDLE1 enough to trip the 5-second task watchdog. See #266, #321. */
|
||||
const uint8_t BATCH_LIMIT = 4;
|
||||
|
||||
while (1) {
|
||||
if (ring_pop(&slot)) {
|
||||
uint8_t processed = 0;
|
||||
|
||||
while (processed < BATCH_LIMIT && ring_pop(&slot)) {
|
||||
process_frame(&slot);
|
||||
/* Yield after every frame to feed the Core 1 watchdog.
|
||||
* process_frame() is CPU-intensive (biquad filters, Welford stats,
|
||||
* BPM estimation, multi-person vitals) and can take several ms.
|
||||
* Without this yield, edge_dsp at priority 5 starves IDLE1 at
|
||||
* priority 0, triggering the task watchdog. See issue #266. */
|
||||
processed++;
|
||||
/* 1-tick yield between frames within a batch. */
|
||||
vTaskDelay(1);
|
||||
}
|
||||
|
||||
if (processed > 0) {
|
||||
/* Post-batch yield: 2 ticks (~20 ms at 100 Hz) so IDLE1 can
|
||||
* run and feed the Core 1 watchdog even under sustained load.
|
||||
* This is intentionally longer than the 1-tick inter-frame yield. */
|
||||
vTaskDelay(2);
|
||||
} else {
|
||||
/* No frames available — yield briefly. */
|
||||
vTaskDelay(pdMS_TO_TICKS(1));
|
||||
/* No frames available — sleep one full tick.
|
||||
* NOTE: pdMS_TO_TICKS(5) == 0 at 100 Hz, which would busy-spin. */
|
||||
vTaskDelay(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2820,6 +2820,90 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
|
|||
})) {
|
||||
let _ = s.tx.send(json);
|
||||
}
|
||||
|
||||
// Issue #323: Also emit a sensing_update so the UI renders
|
||||
// detections for ESP32 nodes running the edge DSP pipeline
|
||||
// (Tier 2+). Without this, vitals arrive but the UI shows
|
||||
// "no detection" because it only renders sensing_update msgs.
|
||||
s.source = "esp32".to_string();
|
||||
s.last_esp32_frame = Some(std::time::Instant::now());
|
||||
s.tick += 1;
|
||||
let tick = s.tick;
|
||||
|
||||
let motion_level = if vitals.motion { "present_moving" }
|
||||
else if vitals.presence { "present_still" }
|
||||
else { "absent" };
|
||||
let motion_score = if vitals.motion { 0.8 }
|
||||
else if vitals.presence { 0.3 }
|
||||
else { 0.05 };
|
||||
let est_persons = if vitals.presence {
|
||||
(vitals.n_persons as usize).max(1)
|
||||
} else {
|
||||
0
|
||||
};
|
||||
|
||||
let features = FeatureInfo {
|
||||
mean_rssi: vitals.rssi as f64,
|
||||
variance: vitals.motion_energy as f64,
|
||||
motion_band_power: vitals.motion_energy as f64,
|
||||
breathing_band_power: if vitals.presence { 0.5 } else { 0.0 },
|
||||
dominant_freq_hz: vitals.breathing_rate_bpm / 60.0,
|
||||
change_points: 0,
|
||||
spectral_power: vitals.motion_energy as f64,
|
||||
};
|
||||
let classification = ClassificationInfo {
|
||||
motion_level: motion_level.to_string(),
|
||||
presence: vitals.presence,
|
||||
confidence: vitals.presence_score as f64,
|
||||
};
|
||||
let signal_field = generate_signal_field(
|
||||
vitals.rssi as f64, motion_score, vitals.breathing_rate_bpm / 60.0,
|
||||
(vitals.presence_score as f64).min(1.0), &[],
|
||||
);
|
||||
|
||||
let mut update = SensingUpdate {
|
||||
msg_type: "sensing_update".to_string(),
|
||||
timestamp: chrono::Utc::now().timestamp_millis() as f64 / 1000.0,
|
||||
source: "esp32".to_string(),
|
||||
tick,
|
||||
nodes: vec![NodeInfo {
|
||||
node_id: vitals.node_id,
|
||||
rssi_dbm: vitals.rssi as f64,
|
||||
position: [2.0, 0.0, 1.5],
|
||||
amplitude: vec![],
|
||||
subcarrier_count: 0,
|
||||
}],
|
||||
features: features.clone(),
|
||||
classification,
|
||||
signal_field,
|
||||
vital_signs: Some(VitalSigns {
|
||||
breathing_rate_bpm: if vitals.breathing_rate_bpm > 0.0 { Some(vitals.breathing_rate_bpm) } else { None },
|
||||
heart_rate_bpm: if vitals.heartrate_bpm > 0.0 { Some(vitals.heartrate_bpm) } else { None },
|
||||
breathing_confidence: if vitals.presence { 0.7 } else { 0.0 },
|
||||
heartbeat_confidence: if vitals.presence { 0.7 } else { 0.0 },
|
||||
signal_quality: vitals.presence_score as f64,
|
||||
}),
|
||||
enhanced_motion: None,
|
||||
enhanced_breathing: None,
|
||||
posture: None,
|
||||
signal_quality_score: None,
|
||||
quality_verdict: None,
|
||||
bssid_count: None,
|
||||
pose_keypoints: None,
|
||||
model_status: None,
|
||||
persons: None,
|
||||
estimated_persons: if est_persons > 0 { Some(est_persons) } else { None },
|
||||
};
|
||||
|
||||
let persons = derive_pose_from_sensing(&update);
|
||||
if !persons.is_empty() {
|
||||
update.persons = Some(persons);
|
||||
}
|
||||
|
||||
if let Ok(json) = serde_json::to_string(&update) {
|
||||
let _ = s.tx.send(json);
|
||||
}
|
||||
s.latest_update = Some(update);
|
||||
s.edge_vitals = Some(vitals);
|
||||
continue;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue