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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>
This commit is contained in:
rUv 2026-03-30 13:31:07 -04:00 committed by GitHub
parent 1dcf5d42eb
commit 6f23e89909
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GPG Key ID: B5690EEEBB952194
3 changed files with 43 additions and 27 deletions
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41
firmware/esp32-csi-node/main/edge_processing.c
View File

@ -43,6 +43,12 @@ 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. */
/* Scratch buffers for BPM estimation — moved from stack to static to avoid
* stack overflow. process_frame + update_multi_person_vitals combined used
* ~6.5-7.5 KB of the 8 KB task stack. These save ~4 KB of stack. */
static float s_scratch_br[EDGE_PHASE_HISTORY_LEN];
static float s_scratch_hr[EDGE_PHASE_HISTORY_LEN];
static inline bool ring_push(const uint8_t *iq, uint16_t len,
int8_t rssi, uint8_t channel)
{
@ -513,20 +519,18 @@ static void update_multi_person_vitals(const uint8_t *iq_data, uint16_t n_sc,
/* Estimate BPM when we have enough history. */
if (pv->history_len >= 64) {
/* Build contiguous buffer for zero-crossing. */
float br_buf[EDGE_PHASE_HISTORY_LEN];
float hr_buf[EDGE_PHASE_HISTORY_LEN];
/* Build contiguous buffer (reuse static scratch to save ~2 KB stack). */
uint16_t buf_len = pv->history_len;
for (uint16_t i = 0; i < buf_len; i++) {
uint16_t ri = (pv->history_idx + EDGE_PHASE_HISTORY_LEN
- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
br_buf[i] = s_person_br_filt[p][ri];
hr_buf[i] = s_person_hr_filt[p][ri];
s_scratch_br[i] = s_person_br_filt[p][ri];
s_scratch_hr[i] = s_person_hr_filt[p][ri];
}
float br = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
float hr = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
float br = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
float hr = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
/* Sanity clamp. */
if (br >= 6.0f && br <= 40.0f) pv->breathing_bpm = br;
@ -690,20 +694,18 @@ static void process_frame(const edge_ring_slot_t *slot)
/* --- Step 7: BPM estimation (zero-crossing) --- */
if (s_history_len >= 64) {
/* Build contiguous buffers from ring. */
float br_buf[EDGE_PHASE_HISTORY_LEN];
float hr_buf[EDGE_PHASE_HISTORY_LEN];
/* Build contiguous buffers from ring (using static scratch to save stack). */
uint16_t buf_len = s_history_len;
for (uint16_t i = 0; i < buf_len; i++) {
uint16_t ri = (s_history_idx + EDGE_PHASE_HISTORY_LEN
- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
br_buf[i] = s_breathing_filtered[ri];
hr_buf[i] = s_heartrate_filtered[ri];
s_scratch_br[i] = s_breathing_filtered[ri];
s_scratch_hr[i] = s_heartrate_filtered[ri];
}
float br_bpm = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
float hr_bpm = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
float br_bpm = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
float hr_bpm = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
/* Sanity clamp: breathing 6-40 BPM, heart rate 40-180 BPM. */
if (br_bpm >= 6.0f && br_bpm <= 40.0f) s_breathing_bpm = br_bpm;
@ -839,12 +841,11 @@ static void edge_task(void *arg)
* 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) {
uint8_t processed = 0;
while (processed < BATCH_LIMIT && ring_pop(&slot)) {
while (processed < EDGE_BATCH_LIMIT && ring_pop(&slot)) {
process_frame(&slot);
processed++;
/* 1-tick yield between frames within a batch. */
@ -852,10 +853,10 @@ static void edge_task(void *arg)
}
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);
/* Post-batch yield: ~20 ms so IDLE1 can run and feed the
* Core 1 watchdog even under sustained load. Uses pdMS_TO_TICKS
* for tick-rate independence (minimum 1 tick). */
{ TickType_t d = pdMS_TO_TICKS(20); vTaskDelay(d > 0 ? d : 1); }
} else {
/* No frames available — sleep one full tick.
* NOTE: pdMS_TO_TICKS(5) == 0 at 100 Hz, which would busy-spin. */

3
firmware/esp32-csi-node/main/edge_processing.h
View File

@ -46,6 +46,9 @@
#define EDGE_FALL_COOLDOWN_MS 5000 /**< Minimum ms between fall alerts (debounce). */
#define EDGE_FALL_CONSEC_MIN 3 /**< Consecutive frames above threshold to trigger. */
/* ---- DSP task tuning ---- */
#define EDGE_BATCH_LIMIT 4 /**< Max frames per batch before longer yield. */
/* ---- SPSC ring buffer slot ---- */
typedef struct {
uint8_t iq_data[EDGE_MAX_IQ_BYTES]; /**< Raw I/Q bytes from CSI callback. */

26
rust-port/wifi-densepose-rs/crates/wifi-densepose-sensing-server/src/main.rs
View File

@ -3184,7 +3184,10 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
// We scope the mutable borrow of node_states so we can
// access other AppStateInner fields afterward.
let node_id = frame.node_id;
let adaptive_model_ref = s.adaptive_model.as_ref().map(|m| m as *const _);
// Clone adaptive model before mutable borrow of node_states
// to avoid unsafe raw pointer (review finding #2).
let adaptive_model_clone = s.adaptive_model.clone();
let ns = s.node_states.entry(node_id).or_insert_with(NodeState::new);
ns.last_frame_time = Some(std::time::Instant::now());
@ -3198,12 +3201,8 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
extract_features_from_frame(&frame, &ns.frame_history, sample_rate_hz);
smooth_and_classify_node(ns, &mut classification, raw_motion);
// SAFETY: adaptive_model_ref points into s which we hold
// via write lock; the model is not mutated here. We use a
// raw pointer to break the borrow-checker deadlock between
// node_states and adaptive_model (both inside s).
if let Some(model_ptr) = adaptive_model_ref {
let model: &adaptive_classifier::AdaptiveModel = unsafe { &*model_ptr };
// Adaptive override using cloned model (safe, no raw pointers).
if let Some(ref model) = adaptive_model_clone {
let amps = ns.frame_history.back()
.map(|v| v.as_slice())
.unwrap_or(&[]);
@ -3318,6 +3317,19 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
let _ = s.tx.send(json);
}
s.latest_update = Some(update);
// Evict stale nodes every 100 ticks to prevent memory leak.
if tick % 100 == 0 {
let stale = Duration::from_secs(60);
let before = s.node_states.len();
s.node_states.retain(|_id, ns| {
ns.last_frame_time.map_or(false, |t| now.duration_since(t) < stale)
});
let evicted = before - s.node_states.len();
if evicted > 0 {
info!("Evicted {} stale node(s), {} active", evicted, s.node_states.len());
}
}
}
}
Err(e) => {