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)

CHANGELOG.md

@@ -11,6 +11,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - **`@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.
 
 ### Fixed
+- **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).
+- **`/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.
+- **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).
 - **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.
 - **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.
 - **`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`.

firmware/esp32-csi-node/README.md

@@ -4,7 +4,7 @@
 
 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.
 
-[![ESP-IDF v5.2](https://img.shields.io/badge/ESP--IDF-v5.2-blue.svg)](https://docs.espressif.com/projects/esp-idf/en/v5.2/)
+[![ESP-IDF v5.4](https://img.shields.io/badge/ESP--IDF-v5.4-blue.svg)](https://docs.espressif.com/projects/esp-idf/en/v5.4/)
 [![Target: ESP32-S3 / ESP32-C6](https://img.shields.io/badge/target-ESP32--S3%20%7C%20ESP32--C6-purple.svg)](https://www.espressif.com/en/products/socs/esp32-s3)
 [![License: MIT OR Apache-2.0](https://img.shields.io/badge/license-MIT%20OR%20Apache--2.0-green.svg)](../../LICENSE)
 [![Binary: ~943 KB](https://img.shields.io/badge/binary-~943%20KB-orange.svg)](#memory-budget)
@@ -48,10 +48,18 @@ with `--flash_size 4MB`.
 # From the repository root:
 MSYS_NO_PATHCONV=1 docker run --rm \
   -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
-  espressif/idf:v5.2 bash -c \
+  espressif/idf:v5.4 bash -c \
   "rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
 ```
 
+> **Display-less boards (ESP32-S3-DevKitC-1 and similar):** build with the
+> `sdkconfig.defaults.devkitc` overlay instead — the default build compiles
+> display support in, and the runtime panel probe false-positives on boards
+> with no panel, which disables the RuView#893 MGMT+DATA CSI upgrade and
+> collapses CSI yield to 0 pps. See the header of
+> [`sdkconfig.defaults.devkitc`](sdkconfig.defaults.devkitc) for the exact
+> build command.
+
 ### 2. Flash
 
 Offsets must match `partitions_display.csv` (8 MB) or `partitions_4mb.csv` (4 MB):
@@ -250,7 +258,7 @@ Offset  Size  Field
 # From the repository root:
 MSYS_NO_PATHCONV=1 docker run --rm \
   -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
-  espressif/idf:v5.2 bash -c \
+  espressif/idf:v5.4 bash -c \
   "rm -rf build sdkconfig && idf.py set-target esp32s3 && idf.py build"
 ```
 
@@ -268,7 +276,7 @@ To change Kconfig settings before building:
 ```bash
 MSYS_NO_PATHCONV=1 docker run --rm -it \
   -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
-  espressif/idf:v5.2 bash -c \
+  espressif/idf:v5.4 bash -c \
   "idf.py set-target esp32s3 && idf.py menuconfig"
 ```
 

firmware/esp32-csi-node/sdkconfig.defaults.devkitc

@@ -0,0 +1,16 @@
+# DevKitC-1 (display-less) production overlay.
+#
+# The stock ESP32-S3-DevKitC-1 has no AMOLED panel, but the ADR-045 runtime
+# probe false-positives on it: with no TCA9554 and floating QSPI pins, the
+# SH8601 init sequence reports success, display_is_active() returns true, and
+# main.c skips the RuView#893 MGMT+DATA promiscuous upgrade — CSI yield
+# collapses to 0 pps (the exact symptom #893 fixed). Compiling display support
+# out makes has_display constant-false so the upgrade always applies.
+#
+# Build (from repo root, per README "Docker — the only reliable method"):
+#   MSYS_NO_PATHCONV=1 docker run --rm \
+#     -v "$(pwd)/firmware/esp32-csi-node:/project" -w /project \
+#     espressif/idf:v5.4 bash -c \
+#     "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"
+
+# CONFIG_DISPLAY_ENABLE is not set

ui/services/api.service.js

@@ -147,4 +147,17 @@ export class ApiService {
 }
 
 // Create singleton instance
-export const apiService = new ApiService();
+export const apiService = new ApiService();
+
+// Storage key shared with the QuickSettings "API Access" panel.
+export const API_TOKEN_STORAGE_KEY = 'ruview-api-token';
+
+// Apply a previously-saved bearer token at module load — before app init
+// dispatches its first request — so a configured RUVIEW_API_TOKEN works from
+// the very first /api/v1/* call. The server only ever checks the
+// `Authorization: Bearer` header (see bearer_auth.rs) — this intentionally
+// never puts the token in a URL query string.
+try {
+  const storedToken = localStorage.getItem(API_TOKEN_STORAGE_KEY);
+  if (storedToken) apiService.setAuthToken(storedToken);
+} catch { /* storage unavailable (private browsing etc.) */ }

ui/style.css

@@ -4088,6 +4088,20 @@ a:focus-visible,
   color: #fff;
 }
 
+.qs-text-input {
+  padding: var(--space-6) var(--space-8);
+  border-radius: var(--radius-sm);
+  border: 1px solid var(--color-border);
+  background: var(--color-secondary);
+  color: var(--color-text);
+  font-size: var(--font-size-sm);
+}
+
+.qs-text-input:focus {
+  outline: 2px solid var(--color-primary);
+  outline-offset: 1px;
+}
+
 /* --- Screenshot Flash --- */
 
 .screenshot-flash {

ui/utils/quick-settings.js

@@ -1,6 +1,8 @@
 // Quick Settings Panel - Centralized configuration for all UI features
 // Accessible via gear icon in header
 
+import { apiService, API_TOKEN_STORAGE_KEY } from '../services/api.service.js';
+
 export class QuickSettings {
   constructor(app) {
     this.app = app;
@@ -9,6 +11,8 @@ export class QuickSettings {
     this.isOpen = false;
   }
 
+  // A stored token is applied at api.service.js module load (before any
+  // request fires) — this panel only saves/clears it.
   init() {
     this.createButton();
     this.createPanel();
@@ -70,6 +74,18 @@ export class QuickSettings {
             <span class="qs-switch"></span>
           </label>
         </div>
+        <div class="qs-section">
+          <div class="qs-section-title">API Access</div>
+          <div class="qs-row" style="flex-direction: column; align-items: stretch; gap: 6px;">
+            <span>Bearer token (set only if the server enforces RUVIEW_API_TOKEN)</span>
+            <input type="password" id="qs-api-token" class="qs-text-input" placeholder="Paste token..." autocomplete="off" style="width: 100%; box-sizing: border-box;">
+            <div style="display: flex; gap: 8px;">
+              <button class="qs-btn" id="qs-api-token-save">Save & Apply</button>
+              <button class="qs-btn-danger" id="qs-api-token-clear">Clear</button>
+            </div>
+            <span id="qs-api-token-status" style="font-size: 0.85em; opacity: 0.75;"></span>
+          </div>
+        </div>
         <div class="qs-section">
           <div class="qs-section-title">Data</div>
           <div class="qs-row">
@@ -112,6 +128,30 @@ export class QuickSettings {
       }
     });
 
+    this.panel.querySelector('#qs-api-token-save').addEventListener('click', () => {
+      const input = this.panel.querySelector('#qs-api-token');
+      const status = this.panel.querySelector('#qs-api-token-status');
+      const token = input.value.trim();
+      if (!token) {
+        status.textContent = 'Enter a token first, or use Clear to remove one.';
+        return;
+      }
+      try { localStorage.setItem(API_TOKEN_STORAGE_KEY, token); } catch { /* noop */ }
+      apiService.setAuthToken(token);
+      status.textContent = 'Token saved and applied. Reloading...';
+      setTimeout(() => window.location.reload(), 600);
+    });
+
+    this.panel.querySelector('#qs-api-token-clear').addEventListener('click', () => {
+      const input = this.panel.querySelector('#qs-api-token');
+      const status = this.panel.querySelector('#qs-api-token-status');
+      try { localStorage.removeItem(API_TOKEN_STORAGE_KEY); } catch { /* noop */ }
+      apiService.setAuthToken(null);
+      input.value = '';
+      status.textContent = 'Token cleared. Reloading...';
+      setTimeout(() => window.location.reload(), 600);
+    });
+
     this.panel.querySelector('#qs-clear-data').addEventListener('click', () => {
       try {
         localStorage.clear();
@@ -154,6 +194,10 @@ export class QuickSettings {
     if (this.getSetting('compact')) {
       document.body.classList.add('compact-mode');
     }
+    const status = this.panel.querySelector('#qs-api-token-status');
+    let hasToken = false;
+    try { hasToken = !!localStorage.getItem(API_TOKEN_STORAGE_KEY); } catch { /* noop */ }
+    if (status) status.textContent = hasToken ? 'A token is currently set.' : 'No token set (auth is off or unnecessary).';
   }
 
   prefersReducedMotion() {

v2/Cargo.lock

@@ -10961,7 +10961,7 @@ dependencies = [
 
 [[package]]
 name = "wifi-densepose-engine"
-version = "0.3.0"
+version = "0.3.1"
 dependencies = [
  "blake3",
  "criterion",
@@ -11126,7 +11126,7 @@ dependencies = [
 
 [[package]]
 name = "wifi-densepose-sensing-server"
-version = "0.3.3"
+version = "0.3.4"
 dependencies = [
  "axum",
  "chrono",

v2/crates/wifi-densepose-engine/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "wifi-densepose-engine"
 description = "RuView streaming-engine integration layer — composes the ADR-135..146 building blocks into one trust-traceable pipeline cycle"
-version = "0.3.0"
+version = "0.3.1"
 edition.workspace = true
 authors.workspace = true
 license.workspace = true

v2/crates/wifi-densepose-engine/src/lib.rs

@@ -226,6 +226,19 @@ impl StreamingEngine {
         }
     }
 
+    /// Override the multistatic fuser's timestamp guard interval (#1049/#1057).
+    /// Without this, `StreamingEngine::new` always builds
+    /// `MultistaticFuser::with_config(MultistaticConfig::default())` — a
+    /// hardcoded 60 ms hard guard that ignores whatever schedule/override the
+    /// caller derived from `WDP_TDM_SLOTS`/`WDP_GUARD_INTERVAL_US`, so
+    /// WiFi/ESP-NOW-synced multi-node deployments spuriously fail governed
+    /// trust cycles even after widening the guard elsewhere.
+    ///
+    /// Rebuilds the fuser, so call before any frames are processed.
+    pub fn set_multistatic_config(&mut self, cfg: MultistaticConfig) {
+        self.fuser = MultistaticFuser::with_config(cfg);
+    }
+
     /// Activate a per-room calibration adapter (ADR-150 §3.4). From the next
     /// cycle on, the adapter id is part of provenance `model_version` — and
     /// therefore of the witness — so the exact weights shaping inference are

v2/crates/wifi-densepose-sensing-server/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "wifi-densepose-sensing-server"
-version = "0.3.3"
+version = "0.3.4"
 edition.workspace = true
 description = "Lightweight Axum server for WiFi sensing UI with RuVector signal processing"
 license.workspace = true

v2/crates/wifi-densepose-sensing-server/src/bearer_auth.rs

@@ -34,6 +34,15 @@ pub const API_TOKEN_ENV: &str = "RUVIEW_API_TOKEN";
 /// Path prefix the middleware protects when auth is enabled.
 pub const PROTECTED_PREFIX: &str = "/api/v1/";
 
+/// `/api/v1/stream/pose` is a WebSocket upgrade endpoint reachable from
+/// browser code. Unlike a plain fetch(), the browser `WebSocket` constructor
+/// cannot attach an `Authorization` header to the handshake request, so this
+/// path can never carry a bearer token from a stock browser client — the
+/// same reasoning that already exempts `/ws/sensing` (see module docs).
+/// Exempted here rather than moved out of `/api/v1/*` to avoid an API
+/// surface change for existing clients.
+const EXEMPT_PATHS: &[&str] = &["/api/v1/stream/pose"];
+
 /// 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"));

v2/crates/wifi-densepose-sensing-server/src/engine_bridge.rs

@@ -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)

v2/crates/wifi-densepose-sensing-server/src/main.rs

@@ -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");