feat(adr-106): expose full complex CSI in WS NodeInfo (amp+phase+meta)
Operator asked for maximum raw signal off the sensors so a future trained pose / fine-motion model has everything it needs, instead of only the amplitude scalar we surfaced before. Adds four fields to NodeInfo: phases: Vec<f64> per-subcarrier atan2(Q,I), radians n_antennas: u8 RX antenna count from WiFi driver noise_floor_dbm: i8 noise floor reported by ESP-IDF timestamp_us: u64 per-frame µs timestamp from the sensor Each is `skip_serializing_if = zero-or-empty` so feature_state ticks (which carry no raw CSI) stay slim in the WS payload — only real raw CSI frames populate them. NodeState gains: latest_phases / latest_noise_floor / latest_n_antennas / latest_timestamp_us (per-node stash, replaces having to keep a parallel phase_history). The raw-CSI ingest path populates these on every frame. Verified live: WS now emits 185 messages over 4 s (~46 fps) with both amplitude[56] and phases[56] populated; noise_floor reports -91 dBm; n_antennas reports 1 (ESP32-S3 single antenna).
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@ -925,10 +925,34 @@ struct NodeInfo {
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node_id: u8,
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rssi_dbm: f64,
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position: [f64; 3],
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/// Per-subcarrier amplitude = sqrt(I² + Q²) — primary CSI signal.
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amplitude: Vec<f64>,
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/// Per-subcarrier phase in radians = atan2(Q, I). ADR-106: now
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/// exposed alongside amplitude so downstream consumers (vital-
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/// signs FFT on phase, pose estimation, ML training) have the
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/// full complex CSI. Empty when the carrying packet was a
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/// feature_state (no raw CSI).
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#[serde(default, skip_serializing_if = "Vec::is_empty")]
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phases: Vec<f64>,
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subcarrier_count: usize,
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/// Number of receive antennas reported by the WiFi driver
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/// (ESP32-S3 typically 1). 0 when the source packet didn't carry it.
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#[serde(default, skip_serializing_if = "is_zero_u8")]
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n_antennas: u8,
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/// Receiver noise floor in dBm. 0 means "not reported".
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#[serde(default, skip_serializing_if = "is_zero_i8")]
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noise_floor_dbm: i8,
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/// Per-frame µs timestamp from the receiving sensor. Lets the
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/// server / model align frames across nodes when computing FFTs
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/// or cross-correlations. 0 means "not available".
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#[serde(default, skip_serializing_if = "is_zero_u64")]
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timestamp_us: u64,
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}
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fn is_zero_u8(v: &u8) -> bool { *v == 0 }
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fn is_zero_i8(v: &i8) -> bool { *v == 0 }
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fn is_zero_u64(v: &u64) -> bool { *v == 0 }
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#[derive(Debug, Clone, Serialize, Deserialize)]
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struct FeatureInfo {
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mean_rssi: f64,
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@ -1007,6 +1031,16 @@ struct NodeState {
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edge_vitals: Option<Esp32VitalsPacket>,
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/// Latest extracted features for cross-node fusion.
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latest_features: Option<FeatureInfo>,
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/// ADR-106: latest per-subcarrier phases (radians, atan2(Q,I)) and
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/// noise floor + sensor µs timestamp from the most recent raw CSI
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/// frame. Surfaced in `NodeInfo` so downstream consumers
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/// (vital-signs FFT on phase, future ML model) get the full
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/// complex CSI without re-routing through `frame_history` which
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/// is amplitude-only.
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latest_phases: Option<Vec<f64>>,
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latest_noise_floor: i8,
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latest_timestamp_us: u64,
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latest_n_antennas: u8,
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// ── RuVector Phase 2: Temporal smoothing & coherence gating ──
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/// Previous frame's smoothed keypoint positions for EMA temporal smoothing.
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prev_keypoints: Option<Vec<[f64; 3]>>,
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@ -1069,6 +1103,10 @@ impl NodeState {
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last_frame_time: None,
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edge_vitals: None,
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latest_features: None,
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latest_phases: None,
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latest_noise_floor: 0,
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latest_timestamp_us: 0,
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latest_n_antennas: 0,
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prev_keypoints: None,
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motion_energy_history: VecDeque::with_capacity(COHERENCE_WINDOW),
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coherence_score: 1.0, // assume stable initially
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@ -2528,8 +2566,12 @@ async fn windows_wifi_task(state: SharedState, tick_ms: u64) {
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node_id: 0,
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rssi_dbm: first_rssi,
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position: [0.0, 0.0, 0.0],
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amplitude: multi_ap_frame.amplitudes,
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amplitude: multi_ap_frame.amplitudes.clone(),
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phases: multi_ap_frame.phases.clone(),
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subcarrier_count: obs_count,
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n_antennas: 1,
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noise_floor_dbm: 0,
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timestamp_us: 0,
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}],
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features,
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classification,
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@ -2668,7 +2710,11 @@ async fn windows_wifi_fallback_tick(state: &SharedState, seq: u32) {
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rssi_dbm,
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position: [0.0, 0.0, 0.0],
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amplitude: vec![signal_pct],
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phases: Vec::new(),
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subcarrier_count: 1,
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n_antennas: 0,
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noise_floor_dbm: 0,
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timestamp_us: 0,
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}],
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features,
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classification,
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@ -4567,7 +4613,11 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
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rssi_dbm: n.rssi_history.back().copied().unwrap_or(0.0),
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position: [2.0, 0.0, 1.5],
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amplitude: vec![],
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phases: vec![],
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subcarrier_count: 0,
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n_antennas: 0,
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noise_floor_dbm: 0,
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timestamp_us: 0,
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})
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.collect();
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@ -4752,6 +4802,16 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
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ns.frame_history.pop_front();
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}
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// ADR-106: stash latest raw-CSI metadata (phase,
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// noise floor, sensor µs timestamp, antenna count)
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// so build_node_features can surface the full
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// complex signal in NodeInfo.
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if !frame.phases.is_empty() {
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ns.latest_phases = Some(frame.phases.clone());
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}
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ns.latest_noise_floor = frame.noise_floor;
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ns.latest_n_antennas = frame.n_antennas;
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let sample_rate_hz = 1000.0 / 500.0_f64;
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let (features, mut classification, breathing_rate_hz, sub_variances, raw_motion) =
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extract_features_from_frame(&frame, &ns.frame_history, sample_rate_hz);
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@ -4871,14 +4931,25 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
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// Build nodes array with all active nodes.
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let active_nodes: Vec<NodeInfo> = s.node_states.iter()
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.filter(|(_, n)| n.last_frame_time.map_or(false, |t| now.duration_since(t).as_secs() < 10))
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.map(|(&id, n)| NodeInfo {
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node_id: id,
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rssi_dbm: n.rssi_history.back().copied().unwrap_or(0.0),
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position: [2.0, 0.0, 1.5],
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amplitude: n.frame_history.back()
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.map(|(&id, n)| {
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let amps: Vec<f64> = n.frame_history.back()
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.map(|a| a.iter().take(56).cloned().collect())
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.unwrap_or_default(),
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subcarrier_count: n.frame_history.back().map_or(0, |a| a.len()),
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.unwrap_or_default();
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let phases: Vec<f64> = n.latest_phases.as_ref()
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.map(|p| p.iter().take(56).cloned().collect())
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.unwrap_or_default();
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let sub_count = amps.len();
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NodeInfo {
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node_id: id,
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rssi_dbm: n.rssi_history.back().copied().unwrap_or(0.0),
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position: [2.0, 0.0, 1.5],
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amplitude: amps,
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phases,
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subcarrier_count: sub_count,
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n_antennas: n.latest_n_antennas,
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noise_floor_dbm: n.latest_noise_floor,
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timestamp_us: n.latest_timestamp_us,
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}
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})
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.collect();
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@ -5018,7 +5089,11 @@ async fn simulated_data_task(state: SharedState, tick_ms: u64) {
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rssi_dbm: features.mean_rssi,
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position: [2.0, 0.0, 1.5],
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amplitude: frame_amplitudes,
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phases: Vec::new(),
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subcarrier_count: frame_n_sub as usize,
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n_antennas: 0,
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noise_floor_dbm: 0,
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timestamp_us: 0,
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}],
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features: features.clone(),
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classification,
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