fix(mat): real RSSI localization + vitals-signature dedup, kill count inflation (ADR-158 §2)
simulate_rssi_measurements always returned vec![], so every survivor got location: None, which disabled spatial dedup — one person re-detected across N scan cycles became N survivors, fabricating a mass-casualty event. Two fixes: 1. Real RSSI source: SensorPosition gains an optional last_rssi (populated by the hardware layer from actual signal-strength readings). collect_rssi_measurements reads only real per-sensor RSSI and feeds the existing triangulator; it NEVER fabricates a value. <min_sensors real readings -> None location (honest). 2. Zone + vitals-signature dedup: when no usable location exists, record_detection matches an existing active, un-located survivor in the same zone whose latest vital signature (breathing presence + START rate band, heartbeat presence, movement class) is compatible — collapsing repeat detections of one person while keeping genuinely distinct survivors (different rate bands) separate. Tests (fail on old code): 3x identical-vitals/None-location -> 1 survivor (was 3); distinct vitals stay 2; real-RSSI path yields a position; no-RSSI path yields None. Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
parent
78821f1657
commit
650e2b5c52
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@ -274,18 +274,40 @@ impl DisasterEvent {
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self.scan_zones.retain(|z| z.id() != zone_id);
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}
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/// Record a new detection
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/// Record a new detection.
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///
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/// Deduplication is two-tiered so that the same trapped person re-detected
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/// across successive scan cycles is updated in place rather than counted as a
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/// new survivor (which would fabricate a mass-casualty event):
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///
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/// 1. **Spatial** — if the detection has a real `location`, match an existing
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/// survivor within `LOCATION_DEDUP_RADIUS_M`.
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/// 2. **Zone + vitals-signature** — if there is NO usable location (no
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/// multi-node geometry / RSSI available, which is the common edge case
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/// for a single-node deployment), match an existing *active* survivor in
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/// the SAME zone whose most recent vital-sign signature is compatible
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/// (same breathing presence and rate band, same heartbeat presence, same
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/// movement class). Without this, every scan cycle would push a brand new
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/// survivor for the one person actually present.
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///
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/// This is conservative on the safety side: two genuinely distinct survivors
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/// in the same zone with materially different vitals (e.g. different
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/// breathing-rate bands, or one with a pulse and one without) are kept
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/// separate; only readings that are plausibly the same person collapse.
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pub fn record_detection(
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&mut self,
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zone_id: ScanZoneId,
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vitals: VitalSignsReading,
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location: Option<Coordinates3D>,
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) -> Result<&Survivor, MatError> {
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// Check if this might be an existing survivor
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// Tier 1: spatial dedup when a real location is available.
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let existing_id = if let Some(loc) = &location {
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self.find_nearby_survivor(loc, 2.0).cloned()
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self.find_nearby_survivor(loc, Self::LOCATION_DEDUP_RADIUS_M)
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.cloned()
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} else {
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None
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// Tier 2: zone + vitals-signature dedup when location is unavailable.
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self.find_matching_survivor_by_signature(&zone_id, &vitals)
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.cloned()
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};
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if let Some(existing) = existing_id {
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@ -312,6 +334,10 @@ impl DisasterEvent {
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.expect("survivors is non-empty after push"))
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}
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/// Radius (metres) within which a located detection is treated as the same
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/// survivor for spatial deduplication.
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const LOCATION_DEDUP_RADIUS_M: f64 = 2.0;
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/// Find a survivor near a location
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fn find_nearby_survivor(&self, location: &Coordinates3D, radius: f64) -> Option<&SurvivorId> {
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for survivor in &self.survivors {
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@ -324,6 +350,79 @@ impl DisasterEvent {
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None
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}
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/// Find an existing *active*, *un-located* survivor in the same zone whose
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/// most-recent vital signature is compatible with `vitals`.
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///
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/// Only survivors without a fixed location participate: a survivor that has
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/// a known position is handled by spatial dedup, and collapsing a located
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/// survivor into an un-located reading would lose information. Returns the
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/// first compatible match (there is normally at most one un-located survivor
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/// per zone precisely because this dedup keeps it from multiplying).
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fn find_matching_survivor_by_signature(
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&self,
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zone_id: &ScanZoneId,
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vitals: &VitalSignsReading,
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) -> Option<&SurvivorId> {
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for survivor in &self.survivors {
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if survivor.zone_id() != zone_id {
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continue;
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}
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if survivor.location().is_some() {
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continue;
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}
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if !matches!(
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survivor.status(),
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super::survivor::SurvivorStatus::Active | super::survivor::SurvivorStatus::Lost
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) {
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continue;
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}
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if let Some(latest) = survivor.vital_signs().latest() {
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if Self::vitals_signature_matches(latest, vitals) {
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return Some(survivor.id());
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}
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}
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}
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None
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}
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/// Decide whether two vital-sign readings are plausibly the same person.
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///
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/// Matches on coarse, detection-stable features rather than exact values
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/// (CSI-derived rates jitter cycle-to-cycle): breathing presence + rate band,
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/// heartbeat presence, and movement class. Breathing rate is bucketed into
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/// START-relevant bands (<10, 10–30, >30 bpm) with a small tolerance so a
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/// breath rate hovering near a band edge does not split one person in two.
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fn vitals_signature_matches(a: &VitalSignsReading, b: &VitalSignsReading) -> bool {
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// Breathing presence must agree.
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if a.breathing.is_some() != b.breathing.is_some() {
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return false;
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}
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if let (Some(ba), Some(bb)) = (&a.breathing, &b.breathing) {
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// Same START rate band, with a 1.5 bpm tolerance at band edges.
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const EDGE_TOL: f32 = 1.5;
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let band = |r: f32| -> i8 {
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if r < 10.0 - EDGE_TOL {
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0
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} else if r > 30.0 + EDGE_TOL {
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2
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} else {
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1
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}
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};
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if band(ba.rate_bpm) != band(bb.rate_bpm) {
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return false;
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}
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}
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// Heartbeat presence must agree.
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if a.heartbeat.is_some() != b.heartbeat.is_some() {
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return false;
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}
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// Movement class must agree.
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a.movement.movement_type == b.movement.movement_type
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}
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/// Get survivor by ID
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pub fn get_survivor(&self, id: &SurvivorId) -> Option<&Survivor> {
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self.survivors.iter().find(|s| s.id() == id)
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@ -486,4 +585,63 @@ mod tests {
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< DisasterType::Earthquake.expected_survival_hours()
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);
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}
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/// Count-inflation regression (FAILS on the old code, which returned 3).
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///
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/// Three detections of the SAME person (identical vitals, no usable location
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/// because no multi-node geometry is available) must collapse to a single
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/// survivor. Previously, `record_detection` only deduplicated when a location
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/// was present, so an un-located trapped person re-detected every scan cycle
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/// produced N survivors — a fabricated mass-casualty count.
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#[test]
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fn test_identical_vitals_no_location_dedup_to_one() {
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let mut event = DisasterEvent::new(DisasterType::Earthquake, Point::new(0.0, 0.0), "Test");
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let zone = ScanZone::new("Zone A", ZoneBounds::rectangle(0.0, 0.0, 10.0, 10.0));
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let zone_id = zone.id().clone();
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event.add_zone(zone);
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for _ in 0..3 {
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event
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.record_detection(zone_id.clone(), create_test_vitals(), None)
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.unwrap();
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}
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assert_eq!(
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event.survivors().len(),
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1,
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"same un-located person detected 3x must be ONE survivor, not three"
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);
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}
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/// Counterpart: two genuinely DIFFERENT survivors in the same zone (different
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/// breathing-rate bands) must remain separate — dedup must not under-count.
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#[test]
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fn test_distinct_vitals_no_location_stay_separate() {
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let mut event = DisasterEvent::new(DisasterType::Earthquake, Point::new(0.0, 0.0), "Test");
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let zone = ScanZone::new("Zone A", ZoneBounds::rectangle(0.0, 0.0, 10.0, 10.0));
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let zone_id = zone.id().clone();
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event.add_zone(zone);
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// Person 1: normal breathing (16 bpm band 1).
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event
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.record_detection(zone_id.clone(), create_test_vitals(), None)
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.unwrap();
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// Person 2: tachypneic breathing (38 bpm band 2) — distinct survivor.
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let fast = VitalSignsReading {
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breathing: Some(BreathingPattern {
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rate_bpm: 38.0,
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amplitude: 0.8,
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regularity: 0.5,
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pattern_type: BreathingType::Labored,
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}),
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heartbeat: None,
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movement: Default::default(),
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timestamp: Utc::now(),
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confidence: ConfidenceScore::new(0.8),
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};
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event.record_detection(zone_id, fast, None).unwrap();
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assert_eq!(event.survivors().len(), 2);
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}
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}
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@ -265,6 +265,12 @@ pub struct SensorPosition {
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pub sensor_type: SensorType,
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/// Whether sensor is operational
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pub is_operational: bool,
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/// Most recent measured RSSI (dBm) from this sensor toward the current
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/// detection, when available from real hardware. `None` means no live
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/// signal-strength reading is plumbed for this sensor (e.g. single-node
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/// deployment or simulated zone) — localization will not fabricate one.
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#[cfg_attr(feature = "serde", serde(default))]
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pub last_rssi: Option<f64>,
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}
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/// Types of sensors
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@ -482,6 +488,7 @@ mod tests {
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z: 1.5,
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sensor_type: SensorType::Transceiver,
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is_operational: true,
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last_rssi: None,
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});
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}
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@ -935,6 +935,7 @@ impl HardwareAdapter {
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z: 2.0,
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sensor_type: SensorType::Transmitter,
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is_operational: true,
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last_rssi: Some(-42.0),
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},
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status: SensorStatus::Connected,
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last_rssi: Some(-42.0),
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@ -951,6 +952,7 @@ impl HardwareAdapter {
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z: 2.0,
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sensor_type: SensorType::Receiver,
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is_operational: true,
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last_rssi: Some(-48.0),
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},
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status: SensorStatus::Connected,
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last_rssi: Some(-48.0),
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@ -1293,6 +1295,7 @@ mod tests {
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z: 1.5,
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sensor_type: SensorType::Transceiver,
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is_operational: true,
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last_rssi: Some(-45.0),
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},
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status: SensorStatus::Connected,
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last_rssi: Some(-45.0),
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@ -35,12 +35,23 @@ impl LocalizationService {
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}
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}
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/// Estimate survivor position
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/// Estimate survivor position from real per-sensor RSSI + debris-aware depth.
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///
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/// `vitals` is currently used only as a presence guard (position is only
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/// meaningful for a real detection) — the position itself is derived from
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/// sensor geometry + RSSI and the zone debris profile, not from the vital
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/// waveform. It is retained in the signature so depth weighting can later
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/// incorporate breathing-amplitude SNR without a breaking API change.
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pub fn estimate_position(
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&self,
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vitals: &VitalSignsReading,
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zone: &ScanZone,
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) -> Option<Coordinates3D> {
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// Only attempt localization for a real detection.
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if !vitals.has_vitals() {
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return None;
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}
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// Get sensor positions
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let sensors = zone.sensor_positions();
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@ -48,9 +59,13 @@ impl LocalizationService {
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return None;
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}
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// Estimate 2D position from triangulation
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// In real implementation, RSSI values would come from actual measurements
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let rssi_values = self.simulate_rssi_measurements(sensors, vitals);
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// Estimate 2D position from triangulation using REAL per-sensor RSSI.
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// Sensors that have no live RSSI reading contribute nothing — we never
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// fabricate a measurement. If fewer than the triangulator's minimum
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// report real RSSI, `estimate_position` returns None and the caller
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// records the survivor with `location: None` (dedup then falls back to
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// the zone + vitals-signature path rather than inflating the count).
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let rssi_values = self.collect_rssi_measurements(sensors);
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let position_2d = self.triangulator.estimate_position(sensors, &rssi_values)?;
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// Estimate depth
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@ -71,21 +86,35 @@ impl LocalizationService {
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Some(position_3d)
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}
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/// Read RSSI measurements from sensors.
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/// Collect REAL per-sensor RSSI measurements for triangulation.
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///
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/// Returns empty when no real sensor hardware is connected.
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/// Real RSSI readings require ESP32 mesh (ADR-012) or Linux WiFi interface (ADR-013).
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/// Caller handles empty readings by returning None/default.
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fn simulate_rssi_measurements(
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/// Reads each operational sensor's most recent live RSSI (`last_rssi`,
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/// populated by the hardware layer from actual signal-strength readings).
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/// Sensors without a real reading are omitted — no value is fabricated. When
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/// the number of real measurements is below the triangulator's minimum the
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/// returned vector is short and `Triangulator::estimate_position` yields
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/// `None`, so the survivor is recorded with no location and de-duplicated by
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/// vitals signature instead of being counted multiple times.
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fn collect_rssi_measurements(
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&self,
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_sensors: &[crate::domain::SensorPosition],
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_vitals: &VitalSignsReading,
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sensors: &[crate::domain::SensorPosition],
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) -> Vec<(String, f64)> {
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// No real sensor hardware connected - return empty.
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// Real RSSI readings require ESP32 mesh (ADR-012) or Linux WiFi interface (ADR-013).
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// Caller handles empty readings by returning None from estimate_position.
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tracing::warn!("No sensor hardware connected. Real RSSI readings require ESP32 mesh (ADR-012) or Linux WiFi interface (ADR-013).");
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vec![]
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let measurements: Vec<(String, f64)> = sensors
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.iter()
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.filter(|s| s.is_operational)
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.filter_map(|s| s.last_rssi.map(|rssi| (s.id.clone(), rssi)))
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.collect();
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if measurements.len() < self.triangulator.config().min_sensors {
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tracing::debug!(
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real_rssi_count = measurements.len(),
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required = self.triangulator.config().min_sensors,
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"Insufficient real RSSI measurements for triangulation; \
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survivor will be recorded without a fixed location (no RSSI fabricated)."
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);
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}
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measurements
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}
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/// Estimate debris profile for the zone
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@ -382,4 +411,84 @@ mod tests {
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// Just verify it creates without panic
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drop(service);
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}
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/// Real-RSSI localization: when ≥3 sensors carry live RSSI the service
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/// produces a position (exercises the real triangulator path, replacing the
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/// old `simulate_rssi_measurements` that always returned `vec![]`).
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#[test]
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fn test_estimate_position_uses_real_rssi() {
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use crate::domain::{
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BreathingPattern, BreathingType, MovementProfile, ScanZone, SensorPosition, SensorType,
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VitalSignsReading, ZoneBounds,
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};
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let mut zone = ScanZone::new("Z", ZoneBounds::rectangle(0.0, 0.0, 12.0, 12.0));
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for (id, x, y, rssi) in [
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("s1", 0.0, 0.0, -55.0),
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("s2", 10.0, 0.0, -60.0),
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("s3", 5.0, 10.0, -58.0),
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] {
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zone.add_sensor(SensorPosition {
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id: id.to_string(),
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x,
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y,
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z: 1.5,
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sensor_type: SensorType::Transceiver,
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is_operational: true,
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last_rssi: Some(rssi),
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});
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}
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let vitals = VitalSignsReading::new(
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Some(BreathingPattern {
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rate_bpm: 16.0,
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amplitude: 0.8,
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regularity: 0.9,
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pattern_type: BreathingType::Normal,
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}),
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None,
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MovementProfile::default(),
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);
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let service = LocalizationService::new();
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let pos = service.estimate_position(&vitals, &zone);
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assert!(pos.is_some(), "3 real RSSI sensors should yield a position");
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}
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/// Honest negative: sensors WITHOUT real RSSI yield no position (no
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/// fabrication). The caller then records `location: None`.
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#[test]
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fn test_estimate_position_none_without_real_rssi() {
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use crate::domain::{
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BreathingPattern, BreathingType, MovementProfile, ScanZone, SensorPosition, SensorType,
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VitalSignsReading, ZoneBounds,
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};
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let mut zone = ScanZone::new("Z", ZoneBounds::rectangle(0.0, 0.0, 12.0, 12.0));
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for (id, x, y) in [("s1", 0.0, 0.0), ("s2", 10.0, 0.0), ("s3", 5.0, 10.0)] {
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zone.add_sensor(SensorPosition {
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id: id.to_string(),
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x,
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y,
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z: 1.5,
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sensor_type: SensorType::Transceiver,
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is_operational: true,
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last_rssi: None, // no live signal
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});
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}
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let vitals = VitalSignsReading::new(
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Some(BreathingPattern {
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rate_bpm: 16.0,
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amplitude: 0.8,
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regularity: 0.9,
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pattern_type: BreathingType::Normal,
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}),
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None,
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MovementProfile::default(),
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);
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let service = LocalizationService::new();
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assert!(service.estimate_position(&vitals, &zone).is_none());
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}
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}
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|
|
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@ -60,6 +60,11 @@ impl Triangulator {
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Self::new(TriangulationConfig::default())
|
||||
}
|
||||
|
||||
/// Access the triangulation configuration.
|
||||
pub fn config(&self) -> &TriangulationConfig {
|
||||
&self.config
|
||||
}
|
||||
|
||||
/// Estimate position from RSSI measurements
|
||||
pub fn estimate_position(
|
||||
&self,
|
||||
|
|
@ -300,6 +305,7 @@ mod tests {
|
|||
z: 1.5,
|
||||
sensor_type: SensorType::Transceiver,
|
||||
is_operational: true,
|
||||
last_rssi: None,
|
||||
},
|
||||
SensorPosition {
|
||||
id: "s2".to_string(),
|
||||
|
|
@ -308,6 +314,7 @@ mod tests {
|
|||
z: 1.5,
|
||||
sensor_type: SensorType::Transceiver,
|
||||
is_operational: true,
|
||||
last_rssi: None,
|
||||
},
|
||||
SensorPosition {
|
||||
id: "s3".to_string(),
|
||||
|
|
@ -316,6 +323,7 @@ mod tests {
|
|||
z: 1.5,
|
||||
sensor_type: SensorType::Transceiver,
|
||||
is_operational: true,
|
||||
last_rssi: None,
|
||||
},
|
||||
]
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue