Merge pull request #1332 from ruvnet/integrate/pr-1311-1313
Integrate community fixes: DevKitC-1 overlay, EngineBridge guard config, pose-WS bearer auth (#1308 #1309 #1310)
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@ -11,6 +11,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
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- **`@ruvnet/rvagent` startup optimization — stdio time-to-first-response ~242 ms → ~189 ms (−22%; MEASURED, median of repeated `initialize` round-trips against `dist/index.js`, this container, reproduce with a piped-stdin timer).** Two changes: (1) `./http-transport.js` is now imported **lazily** inside the `RVAGENT_HTTP_PORT` branch — it chain-loads the MCP SDK's `streamableHttp` module (~48 ms MEASURED via per-module `import()` timing), which the default stdio path never uses; (2) the advertised JSON Schemas generated from the Zod sources are memoized per tool instead of re-walking the Zod tree on every `tools/list` (matters under the session-per-server HTTP model where each session lists tools). No behavior change: 99/99 jest tests, HTTP session flow re-smoke-tested through the lazy path. The `@ruvnet/ruview` harness CLI was profiled too and left alone — 50 ms vs the ~29 ms bare `node -e ''` floor on the same box (MEASURED), i.e. already near the interpreter floor with zero dependencies.
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### Fixed
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- **EngineBridge now honors `WDP_GUARD_INTERVAL_US`/`WDP_SOFT_GUARD_US`/`WDP_TDM_SLOTS`+`WDP_TDM_SLOT_US`** (#1309, PR #1312, @erichkusuki). The governed trust path previously built its multistatic fuser from a hardcoded `MultistaticConfig::default()` (60 ms guard), so multi-node deployments with WiFi/ESP-NOW time sync (10–150 ms drift) failed every governed cycle regardless of configuration — while the startup log claimed the override took effect. New `StreamingEngine::set_multistatic_config()`; `EngineBridge::new()` takes an `Option<MultistaticConfig>` threaded from the same env-derived config as `AppState.multistatic_fuser`. Hardware-verified on a live 2-node ESP32-S3 setup (90 s window, 0 fusion errors; previously every cycle failed).
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- **`/api/v1/stream/pose` WebSocket reachable with `RUVIEW_API_TOKEN` set + dashboard bearer-token field** (#1310, PR #1313, @erichkusuki). Browsers cannot attach an `Authorization` header to a WS upgrade, so the Live Demo pose stream always failed when auth was on; the path is now on a narrow exact-match exemption list (mirrors `/ws/sensing`), with a regression test pinning that the exemption doesn't leak to other `/api/v1/*` paths. The QuickSettings panel gains an "API Access" field storing the bearer token in `localStorage`; the token is applied at `api.service.js` module load so the very first request carries it.
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- **Display-less DevKitC-1 boards: `sdkconfig.defaults.devkitc` build overlay** (#1308, PR #1311, @erichkusuki). The ADR-045 runtime display probe false-positives on stock ESP32-S3-DevKitC-1 (floating QSPI pins), which silently skipped the RuView#893 MGMT+DATA CSI upgrade and collapsed CSI yield to 0 pps. The overlay compiles display support out (`has_display` constant-false). Also fixes stale `espressif/idf:v5.2` README references to v5.4 (source requires `esp_driver_uart`, IDF ≥5.3). Hardware-verified on 2× DevKitC-1-N16R8 (0 → 40–45 pps).
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- **ADR-263/264/265 implemented — the RuView npm surface fixed end-to-end (`@ruvnet/ruview@0.2.0`, `@ruvnet/rvagent@0.2.0`, `@ruv/ruview-cli`).** Harness (ADR-263 O1–O9): `claim-check` now **fails closed** on empty input (CLI exit 2 + `empty_text` tool error); the MCP stdio server dispatches `tools/call` asynchronously over promise-based `spawn` — `ping` answers while a long `verify`/`calibrate` runs (pinned by a new e2e test that runs a 3 s fake proof and asserts sub-second ping); the two `optionalDependencies` are gone so a cold `npx` installs exactly 1 package (MEASURED: was 4 packages / 620 kB / 71 files, `npm i` in a clean prefix); child output is captured as bounded rolling tails (no more 1 MiB `maxBuffer` kills); `node_monitor` passes the port via `sys.argv` instead of splicing it into `python -c` source; the MCP `serverInfo.version` reads package.json; `.claude/skills/*/SKILL.md` are generated from `skills/*.md` by a `prepack` sync script (byte-equality pinned by test); `which()` is a memoized dep-free PATH scan; tools are underscore-canonical (`ruview_claim_check`, …) with the dotted names accepted as call-time aliases, plus `resources/list`/`prompts/list` stubs; the guardrail's `METRIC_TERMS` matching is precision-fixed (word-boundary `map`/`f1`/`auc`/`iou`, code-span + label scrubbing, quantitative-claims-only) — ADR-263/264/265 and both package READMEs now PASS `claim-check` while real untagged claims still flag. 30/30 tests (MEASURED, `node --test`). rvagent (ADR-264 O1–O9): `exports` fixed (types-first, the never-built `dist/index.cjs` `require` target removed — verified broken in the published 0.1.0 tarball); tarball is map-free (127,704 B unpacked / 46 files / 0 maps — MEASURED, `npm pack --dry-run`, down from 188 kB with 44 maps); the Streamable HTTP transport is **actually wired** behind `RVAGENT_HTTP_PORT` with one transport + one MCP server per session (`mcp-session-id` routing), a 1 MiB body cap (413), and a port-aware localhost origin gate — the "dual-transport" description is now true; tools renamed to underscore-canonical with dotted router aliases; ONE Zod validation gate per call with the advertised JSON Schema generated from the same Zod source (`zod-to-json-schema`); `train_count` closes its log fds (was leaking 2/job) and persists job records to `<jobsDir>/<id>.json` so `job_status` survives restarts, with bounded log-tail reads; `detectCogBinary` actually probes its candidate paths; version reads package.json; `@types/express` dropped, `@types/jest` aligned to jest 29; README rewritten to match reality (no phantom `stdio`/`http`/`policy grant` subcommands; unimplemented ADR-124 catalog tools labeled roadmap). 99/99 jest tests (MEASURED); stdio handshake + HTTP session flow + 403/400/404/413 gates smoke-tested live. CLI: bin renamed `ruview-cli` (the `ruview` bin belongs to `@ruvnet/ruview`, ADR-265 D4), version single-sourced. Distribution (ADR-265 D1–D4): new `npm-packages.yml` (3-package × Node 20/22 matrix: tests, version-literal grep gate, pack-content/size gate, tarball-install smoke test incl. the fail-closed claim-check and an ESM-import probe that would have caught the broken `require` export, README claim-check) and `ruview-npm-release.yml` (publish from CI only, `npm publish --provenance`); `ci.yml` NODE_VERSION 18→20.
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- **Multistatic fusion never ran on a mixed-mode ESP32 mesh — live bridge fed raw, un-canonicalized per-node CSI to the fuser (#1170).** `node_frame_from_state` (`multistatic_bridge.rs`) wrapped each node's **raw** amplitude vector (HT20 ≈ 64 bins, HT40 ≈ 128/192) into a struct *named* `CanonicalCsiFrame` without ever resampling, so `MultistaticFuser::fuse` tripped `DimensionMismatch` on every cycle, silently fell back to per-node sum/dedup, and spun `total_engine_errors` unbounded. Added `HardwareNormalizer::resample_to_canonical` (resample-only, **no z-score** — preserves the amplitude scale the person-score's `variance/mean²` relies on) and run every node frame through it onto the canonical 56-tone grid before fusion. Heterogeneous meshes now fuse instead of erroring. Pinned by `heterogeneous_node_counts_canonicalize_and_fuse` (mixed 64/192 → fuses), `resample_to_canonical_is_length_only_no_zscore`, and an updated `test_node_frame_conversion`; the pre-existing `engine_bridge::observe_cycle_counts_engine_errors` was retargeted to force a `TimestampMismatch` (its old 56-vs-30 setup now canonicalizes cleanly). `wifi-densepose-signal` 501 / `wifi-densepose-sensing-server` 677 tests, 0 failed.
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- **`csi_fps_ema` reported the CSI frame rate 40–840× too high under bursty UDP delivery (#1180).** `update_csi_fps_ema` only rejected deltas `≤ 0` or `≥ 1 s`, so a 36 µs intra-burst arrival delta yielded `1/dt ≈ 27 kHz` straight into the EMA — the metric measured server arrival jitter, not the node's ~40 fps production rate. Added a `MIN_PLAUSIBLE_CSI_DT_SEC = 0.005` floor (derived from the firmware's 50 fps `CSI_MIN_SEND_INTERVAL_US` ceiling, ×4 slack) and made `observe_csi_frame_arrival` keep its anchor across sub-floor bursts so the next genuine inter-frame gap measures true cadence. Pinned by `subms_burst_delta_rejected`, `burst_interleaved_with_nominal_stays_in_band`, and `observe_csi_frame_arrival_ignores_subms_bursts`.
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@ -4,7 +4,7 @@
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This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 (production) or ESP32-C6 (research target — Wi-Fi 6 / 802.15.4 / TWT / LP-core hibernation, see [ADR-110](../../docs/adr/ADR-110-esp32-c6-firmware-extension.md)) and transforms it into real-time presence detection, vital sign monitoring, and programmable sensing -- all without cameras or wearables. Part of the [WiFi-DensePose](../../README.md) project.
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[](https://docs.espressif.com/projects/esp-idf/en/v5.2/)
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[](https://docs.espressif.com/projects/esp-idf/en/v5.4/)
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[](https://www.espressif.com/en/products/socs/esp32-s3)
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[](../../LICENSE)
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[](#memory-budget)
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@ -48,10 +48,18 @@ with `--flash_size 4MB`.
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# From the repository root:
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MSYS_NO_PATHCONV=1 docker run --rm \
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-v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
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espressif/idf:v5.2 bash -c \
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espressif/idf:v5.4 bash -c \
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"rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
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```
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> **Display-less boards (ESP32-S3-DevKitC-1 and similar):** build with the
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> `sdkconfig.defaults.devkitc` overlay instead — the default build compiles
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> display support in, and the runtime panel probe false-positives on boards
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> with no panel, which disables the RuView#893 MGMT+DATA CSI upgrade and
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> collapses CSI yield to 0 pps. See the header of
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> [`sdkconfig.defaults.devkitc`](sdkconfig.defaults.devkitc) for the exact
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> build command.
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### 2. Flash
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Offsets must match `partitions_display.csv` (8 MB) or `partitions_4mb.csv` (4 MB):
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@ -250,7 +258,7 @@ Offset Size Field
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# From the repository root:
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MSYS_NO_PATHCONV=1 docker run --rm \
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-v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
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espressif/idf:v5.2 bash -c \
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espressif/idf:v5.4 bash -c \
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"rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
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```
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@ -268,7 +276,7 @@ To change Kconfig settings before building:
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```bash
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MSYS_NO_PATHCONV=1 docker run --rm -it \
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-v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
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espressif/idf:v5.2 bash -c \
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espressif/idf:v5.4 bash -c \
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"idf.py set-target esp32s3 && idf.py menuconfig"
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```
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@ -0,0 +1,16 @@
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# DevKitC-1 (display-less) production overlay.
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#
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# The stock ESP32-S3-DevKitC-1 has no AMOLED panel, but the ADR-045 runtime
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# probe false-positives on it: with no TCA9554 and floating QSPI pins, the
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# SH8601 init sequence reports success, display_is_active() returns true, and
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# main.c skips the RuView#893 MGMT+DATA promiscuous upgrade — CSI yield
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# collapses to 0 pps (the exact symptom #893 fixed). Compiling display support
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# out makes has_display constant-false so the upgrade always applies.
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#
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# Build (from repo root, per README "Docker — the only reliable method"):
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# MSYS_NO_PATHCONV=1 docker run --rm \
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# -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
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# espressif/idf:v5.4 bash -c \
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# "rm -rf build sdkconfig && idf.py -DSDKCONFIG_DEFAULTS='sdkconfig.defaults;sdkconfig.defaults.devkitc' set-target esp32s3 && idf.py -DSDKCONFIG_DEFAULTS='sdkconfig.defaults;sdkconfig.defaults.devkitc' build"
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# CONFIG_DISPLAY_ENABLE is not set
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@ -147,4 +147,17 @@ export class ApiService {
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}
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// Create singleton instance
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export const apiService = new ApiService();
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export const apiService = new ApiService();
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// Storage key shared with the QuickSettings "API Access" panel.
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export const API_TOKEN_STORAGE_KEY = 'ruview-api-token';
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// Apply a previously-saved bearer token at module load — before app init
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// dispatches its first request — so a configured RUVIEW_API_TOKEN works from
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// the very first /api/v1/* call. The server only ever checks the
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// `Authorization: Bearer` header (see bearer_auth.rs) — this intentionally
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// never puts the token in a URL query string.
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try {
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const storedToken = localStorage.getItem(API_TOKEN_STORAGE_KEY);
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if (storedToken) apiService.setAuthToken(storedToken);
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} catch { /* storage unavailable (private browsing etc.) */ }
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14
ui/style.css
14
ui/style.css
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@ -4088,6 +4088,20 @@ a:focus-visible,
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color: #fff;
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}
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.qs-text-input {
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padding: var(--space-6) var(--space-8);
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border-radius: var(--radius-sm);
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border: 1px solid var(--color-border);
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background: var(--color-secondary);
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color: var(--color-text);
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font-size: var(--font-size-sm);
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}
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.qs-text-input:focus {
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outline: 2px solid var(--color-primary);
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outline-offset: 1px;
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}
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/* --- Screenshot Flash --- */
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.screenshot-flash {
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@ -1,6 +1,8 @@
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// Quick Settings Panel - Centralized configuration for all UI features
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// Accessible via gear icon in header
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import { apiService, API_TOKEN_STORAGE_KEY } from '../services/api.service.js';
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export class QuickSettings {
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constructor(app) {
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this.app = app;
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@ -9,6 +11,8 @@ export class QuickSettings {
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this.isOpen = false;
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}
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// A stored token is applied at api.service.js module load (before any
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// request fires) — this panel only saves/clears it.
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init() {
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this.createButton();
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this.createPanel();
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@ -70,6 +74,18 @@ export class QuickSettings {
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<span class="qs-switch"></span>
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</label>
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</div>
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<div class="qs-section">
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<div class="qs-section-title">API Access</div>
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<div class="qs-row" style="flex-direction: column; align-items: stretch; gap: 6px;">
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<span>Bearer token (set only if the server enforces RUVIEW_API_TOKEN)</span>
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<input type="password" id="qs-api-token" class="qs-text-input" placeholder="Paste token..." autocomplete="off" style="width: 100%; box-sizing: border-box;">
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<div style="display: flex; gap: 8px;">
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<button class="qs-btn" id="qs-api-token-save">Save & Apply</button>
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<button class="qs-btn-danger" id="qs-api-token-clear">Clear</button>
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</div>
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<span id="qs-api-token-status" style="font-size: 0.85em; opacity: 0.75;"></span>
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</div>
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</div>
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<div class="qs-section">
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<div class="qs-section-title">Data</div>
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<div class="qs-row">
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@ -112,6 +128,30 @@ export class QuickSettings {
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}
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});
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this.panel.querySelector('#qs-api-token-save').addEventListener('click', () => {
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const input = this.panel.querySelector('#qs-api-token');
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const status = this.panel.querySelector('#qs-api-token-status');
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const token = input.value.trim();
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if (!token) {
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status.textContent = 'Enter a token first, or use Clear to remove one.';
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return;
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}
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try { localStorage.setItem(API_TOKEN_STORAGE_KEY, token); } catch { /* noop */ }
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apiService.setAuthToken(token);
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status.textContent = 'Token saved and applied. Reloading...';
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setTimeout(() => window.location.reload(), 600);
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});
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this.panel.querySelector('#qs-api-token-clear').addEventListener('click', () => {
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const input = this.panel.querySelector('#qs-api-token');
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const status = this.panel.querySelector('#qs-api-token-status');
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try { localStorage.removeItem(API_TOKEN_STORAGE_KEY); } catch { /* noop */ }
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apiService.setAuthToken(null);
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input.value = '';
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status.textContent = 'Token cleared. Reloading...';
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setTimeout(() => window.location.reload(), 600);
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});
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this.panel.querySelector('#qs-clear-data').addEventListener('click', () => {
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try {
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localStorage.clear();
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@ -154,6 +194,10 @@ export class QuickSettings {
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if (this.getSetting('compact')) {
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document.body.classList.add('compact-mode');
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}
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const status = this.panel.querySelector('#qs-api-token-status');
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let hasToken = false;
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try { hasToken = !!localStorage.getItem(API_TOKEN_STORAGE_KEY); } catch { /* noop */ }
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if (status) status.textContent = hasToken ? 'A token is currently set.' : 'No token set (auth is off or unnecessary).';
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}
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prefersReducedMotion() {
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@ -10961,7 +10961,7 @@ dependencies = [
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[[package]]
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name = "wifi-densepose-engine"
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version = "0.3.0"
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version = "0.3.1"
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dependencies = [
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"blake3",
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"criterion",
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@ -11126,7 +11126,7 @@ dependencies = [
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[[package]]
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name = "wifi-densepose-sensing-server"
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version = "0.3.3"
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version = "0.3.4"
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dependencies = [
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"axum",
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"chrono",
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@ -1,7 +1,7 @@
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[package]
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name = "wifi-densepose-engine"
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description = "RuView streaming-engine integration layer — composes the ADR-135..146 building blocks into one trust-traceable pipeline cycle"
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version = "0.3.0"
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version = "0.3.1"
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edition.workspace = true
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authors.workspace = true
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license.workspace = true
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@ -226,6 +226,19 @@ impl StreamingEngine {
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}
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}
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/// Override the multistatic fuser's timestamp guard interval (#1049/#1057).
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/// Without this, `StreamingEngine::new` always builds
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/// `MultistaticFuser::with_config(MultistaticConfig::default())` — a
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/// hardcoded 60 ms hard guard that ignores whatever schedule/override the
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/// caller derived from `WDP_TDM_SLOTS`/`WDP_GUARD_INTERVAL_US`, so
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/// WiFi/ESP-NOW-synced multi-node deployments spuriously fail governed
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/// trust cycles even after widening the guard elsewhere.
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///
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/// Rebuilds the fuser, so call before any frames are processed.
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pub fn set_multistatic_config(&mut self, cfg: MultistaticConfig) {
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self.fuser = MultistaticFuser::with_config(cfg);
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}
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/// Activate a per-room calibration adapter (ADR-150 §3.4). From the next
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/// cycle on, the adapter id is part of provenance `model_version` — and
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/// therefore of the witness — so the exact weights shaping inference are
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@ -1,6 +1,6 @@
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[package]
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name = "wifi-densepose-sensing-server"
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version = "0.3.3"
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version = "0.3.4"
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edition.workspace = true
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description = "Lightweight Axum server for WiFi sensing UI with RuVector signal processing"
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license.workspace = true
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@ -34,6 +34,15 @@ pub const API_TOKEN_ENV: &str = "RUVIEW_API_TOKEN";
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/// Path prefix the middleware protects when auth is enabled.
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pub const PROTECTED_PREFIX: &str = "/api/v1/";
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/// `/api/v1/stream/pose` is a WebSocket upgrade endpoint reachable from
|
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/// browser code. Unlike a plain fetch(), the browser `WebSocket` constructor
|
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/// cannot attach an `Authorization` header to the handshake request, so this
|
||||
/// path can never carry a bearer token from a stock browser client — the
|
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/// same reasoning that already exempts `/ws/sensing` (see module docs).
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/// Exempted here rather than moved out of `/api/v1/*` to avoid an API
|
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/// surface change for existing clients.
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const EXEMPT_PATHS: &[&str] = &["/api/v1/stream/pose"];
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/// Cheap, cloneable handle to the configured token (or `None`).
|
||||
#[derive(Debug, Clone, Default)]
|
||||
pub struct AuthState {
|
||||
|
|
@ -93,7 +102,8 @@ pub async fn require_bearer(
|
|||
let Some(expected) = auth.token.clone() else {
|
||||
return next.run(request).await;
|
||||
};
|
||||
if !request.uri().path().starts_with(PROTECTED_PREFIX) {
|
||||
let path = request.uri().path();
|
||||
if !path.starts_with(PROTECTED_PREFIX) || EXEMPT_PATHS.contains(&path) {
|
||||
return next.run(request).await;
|
||||
}
|
||||
let supplied = request
|
||||
|
|
@ -141,6 +151,7 @@ mod tests {
|
|||
.route("/health", get(|| async { "ok" }))
|
||||
.route("/api/v1/info", get(|| async { "ok" }))
|
||||
.route("/api/v1/sensitive", axum::routing::post(|| async { "ok" }))
|
||||
.route("/api/v1/stream/pose", get(|| async { "ok" }))
|
||||
.route("/ui/index.html", get(|| async { "<html/>" }))
|
||||
}
|
||||
|
||||
|
|
@ -361,6 +372,26 @@ mod tests {
|
|||
);
|
||||
}
|
||||
|
||||
/// `/api/v1/stream/pose` is a WebSocket upgrade the browser `WebSocket`
|
||||
/// constructor drives directly — it cannot attach an `Authorization`
|
||||
/// header, so this path must stay reachable even with auth ON (mirrors
|
||||
/// the existing `/ws/sensing` exemption, just inside the `/api/v1/*`
|
||||
/// prefix this time).
|
||||
#[tokio::test]
|
||||
async fn enabled_exempts_pose_stream_websocket() {
|
||||
let r = wrap(AuthState::from_token("s3cr3t"));
|
||||
assert_eq!(
|
||||
status(r.clone(), "GET", "/api/v1/stream/pose", None).await,
|
||||
StatusCode::OK,
|
||||
"pose stream WS must stay reachable without a bearer token"
|
||||
);
|
||||
// The exemption is narrow: it must not leak to other /api/v1/* paths.
|
||||
assert_eq!(
|
||||
status(r, "GET", "/api/v1/info", None).await,
|
||||
StatusCode::UNAUTHORIZED
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn ct_eq_basics() {
|
||||
assert!(ct_eq(b"abc", b"abc"));
|
||||
|
|
|
|||
|
|
@ -38,6 +38,7 @@ use wifi_densepose_bfld::{PrivacyClass, PrivacyMode};
|
|||
use wifi_densepose_engine::{AdapterInfo, EngineError, StreamingEngine, TrustedOutput};
|
||||
use wifi_densepose_geo::types::GeoRegistration;
|
||||
use wifi_densepose_signal::ruvsense::fusion_quality::CalibrationId;
|
||||
use wifi_densepose_signal::ruvsense::multistatic::MultistaticConfig;
|
||||
use wifi_densepose_worldgraph::WorldId;
|
||||
|
||||
use super::multistatic_bridge::node_frames_from_states;
|
||||
|
|
@ -79,8 +80,24 @@ pub struct EngineBridge {
|
|||
impl EngineBridge {
|
||||
/// Build a bridge for one installation. `room_area_id`/`room_name` name the
|
||||
/// observation scope; `mode` is the starting privacy mode.
|
||||
pub fn new(mode: PrivacyMode, model_version: u16, room_area_id: &str, room_name: &str) -> Self {
|
||||
///
|
||||
/// `multistatic_cfg` is `None` on the pure default (60 ms/20 ms guard);
|
||||
/// callers that derive a config from `WDP_TDM_SLOTS`/`WDP_GUARD_INTERVAL_US`
|
||||
/// (see `main.rs::multistatic_guard_config_from_env`) should pass it here
|
||||
/// too — otherwise the governed trust cycle silently keeps using the
|
||||
/// hardcoded default even though the sibling `multistatic_fuser` field on
|
||||
/// `AppState` picked up the override (#1049/#1057).
|
||||
pub fn new(
|
||||
mode: PrivacyMode,
|
||||
model_version: u16,
|
||||
room_area_id: &str,
|
||||
room_name: &str,
|
||||
multistatic_cfg: Option<MultistaticConfig>,
|
||||
) -> Self {
|
||||
let mut engine = StreamingEngine::new(mode, model_version, GeoRegistration::default());
|
||||
if let Some(cfg) = multistatic_cfg {
|
||||
engine.set_multistatic_config(cfg);
|
||||
}
|
||||
let room = engine.add_room(room_area_id, room_name);
|
||||
Self {
|
||||
engine,
|
||||
|
|
@ -267,7 +284,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn empty_states_produce_no_belief() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room", None);
|
||||
let out = bridge.process_cycle_from_states(&HashMap::new(), 1_000);
|
||||
assert!(out.is_none());
|
||||
// No belief published, no sensor wired.
|
||||
|
|
@ -276,7 +293,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn live_cycle_produces_witnessed_belief_with_provenance() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room", None);
|
||||
let states = two_node_states();
|
||||
let out = bridge
|
||||
.process_cycle_from_states(&states, 10_000)
|
||||
|
|
@ -299,7 +316,7 @@ mod tests {
|
|||
fn live_path_is_deterministic() {
|
||||
let states = two_node_states_fixed();
|
||||
let run = || {
|
||||
let mut b = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut b = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
b.process_cycle_from_states(&states, 5_000).unwrap().unwrap()
|
||||
};
|
||||
let a = run();
|
||||
|
|
@ -325,7 +342,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn nodes_registered_once_across_cycles() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
let states = two_node_states();
|
||||
bridge.process_cycle_from_states(&states, 1_000);
|
||||
bridge.process_cycle_from_states(&states, 2_000);
|
||||
|
|
@ -336,7 +353,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn retention_bounds_world_graph_growth() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
bridge.set_semantic_retention(5);
|
||||
let states = two_node_states();
|
||||
for i in 0..20i64 {
|
||||
|
|
@ -349,7 +366,7 @@ mod tests {
|
|||
#[test]
|
||||
fn adapter_identity_flows_into_live_witness() {
|
||||
let states = two_node_states_fixed();
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
let base = bridge
|
||||
.process_cycle_from_states(&states, 1_000)
|
||||
.unwrap()
|
||||
|
|
@ -381,7 +398,7 @@ mod tests {
|
|||
/// the status endpoint, with a zero error count on the happy path.
|
||||
#[test]
|
||||
fn observe_cycle_records_trust_state() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
assert!(bridge.last_trust_witness().is_none());
|
||||
assert_eq!(bridge.effective_class(), None);
|
||||
|
||||
|
|
@ -430,7 +447,7 @@ mod tests {
|
|||
m
|
||||
}
|
||||
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
let mismatched = mismatched_states();
|
||||
|
||||
assert!(bridge.observe_cycle(&mismatched, 1_000).is_none());
|
||||
|
|
@ -461,7 +478,7 @@ mod tests {
|
|||
/// mapping bfld's privacy gate applies at `Restricted`.
|
||||
#[test]
|
||||
fn restricted_class_suppresses_raw_outputs() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
bridge.set_privacy_mode(PrivacyMode::StrictNoIdentity); // base = Restricted
|
||||
bridge
|
||||
.observe_cycle(&two_node_states(), 1_000)
|
||||
|
|
@ -472,7 +489,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn identity_strict_mode_is_carried_into_provenance() {
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
|
||||
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
|
||||
bridge.set_privacy_mode(PrivacyMode::StrictNoIdentity);
|
||||
let out = bridge
|
||||
.process_cycle_from_states(&two_node_states(), 7_000)
|
||||
|
|
|
|||
|
|
@ -7514,6 +7514,11 @@ async fn main() {
|
|||
let field_surface: rufield_surface::FieldState =
|
||||
Arc::new(RwLock::new(rufield_surface::FieldSurface::from_env()));
|
||||
|
||||
// Populated inside the `multistatic_fuser` field initializer below, then
|
||||
// threaded into `engine_bridge` so both fusion paths honor the same
|
||||
// WDP_TDM_SLOTS/WDP_GUARD_INTERVAL_US-derived guard (#1049/#1057).
|
||||
let mut engine_bridge_multistatic_cfg: Option<MultistaticConfig> = None;
|
||||
|
||||
let state: SharedState = Arc::new(RwLock::new(AppStateInner {
|
||||
latest_update: None,
|
||||
rssi_history: VecDeque::new(),
|
||||
|
|
@ -7588,7 +7593,7 @@ async fn main() {
|
|||
);
|
||||
let mut fuser = MultistaticFuser::with_config(MultistaticConfig {
|
||||
min_nodes: 1, // single-node passthrough
|
||||
..cfg
|
||||
..cfg.clone()
|
||||
});
|
||||
if let Some(ref pos_str) = args.node_positions {
|
||||
let positions = field_bridge::parse_node_positions(pos_str);
|
||||
|
|
@ -7600,6 +7605,10 @@ async fn main() {
|
|||
fuser.set_node_positions(positions);
|
||||
}
|
||||
}
|
||||
engine_bridge_multistatic_cfg = Some(MultistaticConfig {
|
||||
min_nodes: 1,
|
||||
..cfg
|
||||
});
|
||||
fuser
|
||||
},
|
||||
engine_bridge: engine_bridge::EngineBridge::new(
|
||||
|
|
@ -7607,6 +7616,7 @@ async fn main() {
|
|||
1,
|
||||
"default",
|
||||
"Default Room",
|
||||
engine_bridge_multistatic_cfg,
|
||||
),
|
||||
field_model: if args.calibrate {
|
||||
info!("Field model calibration enabled — room should be empty during startup");
|
||||
|
|
|
|||
Loading…
Reference in New Issue