Fix PR #405 blockers: async runtime panic, crate rename, path traversal, brain URL config

- brain_bridge.rs: replace `Handle::current().block_on(...)` inside async fn
  with `.await` (was a guaranteed "runtime within runtime" panic). Brain URL
  now read from RUVIEW_BRAIN_URL env var (default http://127.0.0.1:9876),
  logged once via OnceLock.
- wifi-densepose-geo: rename Cargo package from `ruview-geo` to
  `wifi-densepose-geo` to match directory and workspace conventions. Update
  all use sites (tests/examples/README). Same env-var pattern for brain URL
  in brain.rs + temporal.rs.
- training.rs: add sanitize_data_path() rejecting `..` components and
  safe_join() that canonicalises + enforces base-dir containment on every
  write (calibration.json, samples.json, preference_pairs.jsonl,
  occupancy_calibration.json). Defence-in-depth check also in main.rs
  before TrainingSession::new.
- osm.rs: clamp Overpass radius to MAX_RADIUS_M=5000m; return Err beyond
  that. Add parse_overpass_json() that rejects malformed payloads
  (missing top-level `elements` array).

Co-Authored-By: claude-flow <ruv@ruv.net>

rust-port/wifi-densepose-rs/Cargo.lock

@@ -5446,18 +5446,6 @@ version = "2.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "178f93f84a4a72c582026a45d9b8710acf188df4a22a25434c5dbba1df6c4cac"
 
-[[package]]
-name = "ruview-geo"
-version = "0.1.0"
-dependencies = [
- "anyhow",
- "chrono",
- "reqwest 0.12.28",
- "serde",
- "serde_json",
- "tokio",
-]
-
 [[package]]
 name = "ryu"
 version = "1.0.23"
@@ -7864,6 +7852,18 @@ dependencies = [
  "uuid",
 ]
 
+[[package]]
+name = "wifi-densepose-geo"
+version = "0.1.0"
+dependencies = [
+ "anyhow",
+ "chrono",
+ "reqwest 0.12.28",
+ "serde",
+ "serde_json",
+ "tokio",
+]
+
 [[package]]
 name = "wifi-densepose-hardware"
 version = "0.3.0"

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "ruview-geo"
+name = "wifi-densepose-geo"
 version = "0.1.0"
 edition = "2021"
 description = "Geospatial satellite integration — free satellite tiles, DEM, OSM, temporal tracking"

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/README.md

@@ -1,4 +1,4 @@
-# ruview-geo — Geospatial Satellite Integration
+# wifi-densepose-geo — Geospatial Satellite Integration
 
 Free satellite imagery, terrain elevation, and map data for RuView spatial sensing. No API keys required.
 
@@ -43,7 +43,7 @@ Integrates your local sensor data (camera + WiFi CSI point cloud) with geographi
 ## Usage
 
 ```rust
-use ruview_geo::{fuse, brain, temporal};
+use wifi_densepose_geo::{fuse, brain, temporal};
 
 // Build geo scene for current location
 let scene = fuse::build_scene(500.0).await?; // 500m radius

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/examples/validate.rs

@@ -1,4 +1,4 @@
-use ruview_geo::*;
+use wifi_densepose_geo::*;
 
 #[tokio::main]
 async fn main() -> anyhow::Result<()> {

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/src/brain.rs

@@ -1,10 +1,24 @@
 //! Brain integration — store geospatial context in ruOS brain.
+//!
+//! Brain URL is read from `RUVIEW_BRAIN_URL` env var (default
+//! `http://127.0.0.1:9876`). The resolved URL is logged once on first use.
 
 use crate::fuse;
 use crate::types::GeoScene;
 use anyhow::Result;
+use std::sync::OnceLock;
 
-const BRAIN_URL: &str = "http://127.0.0.1:9876";
+const DEFAULT_BRAIN_URL: &str = "http://127.0.0.1:9876";
+
+pub(crate) fn brain_url() -> &'static str {
+    static BRAIN_URL: OnceLock<String> = OnceLock::new();
+    BRAIN_URL.get_or_init(|| {
+        let url = std::env::var("RUVIEW_BRAIN_URL")
+            .unwrap_or_else(|_| DEFAULT_BRAIN_URL.to_string());
+        eprintln!("  wifi-densepose-geo: using brain URL {url}");
+        url
+    })
+}
 
 /// Store geospatial context in the brain.
 pub async fn store_geo_context(scene: &GeoScene) -> Result<u32> {
@@ -20,7 +34,7 @@ pub async fn store_geo_context(scene: &GeoScene) -> Result<u32> {
         "category": "spatial-geo",
         "content": summary,
     });
-    if client.post(format!("{BRAIN_URL}/memories")).json(&body).send().await.is_ok() {
+    if client.post(format!("{}/memories", brain_url())).json(&body).send().await.is_ok() {
         stored += 1;
     }
 

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/src/osm.rs

@@ -1,16 +1,36 @@
 //! OpenStreetMap data via Overpass API — buildings, roads, land use.
 
 use crate::types::{GeoBBox, GeoPoint, OsmFeature};
-use anyhow::Result;
+use anyhow::{anyhow, Result};
 
 const OVERPASS_URL: &str = "https://overpass-api.de/api/interpreter";
 
+/// Maximum radius (in metres) accepted by the OSM fetchers. Requests larger
+/// than this would produce Overpass queries covering hundreds of square
+/// kilometres — which hammers the public endpoint and returns unworkably
+/// large response payloads. Callers wanting wider areas must tile the queries.
+pub const MAX_RADIUS_M: f64 = 5000.0;
+
+fn check_radius(radius_m: f64) -> Result<()> {
+    if !radius_m.is_finite() || radius_m <= 0.0 {
+        return Err(anyhow!("radius_m must be positive and finite (got {radius_m})"));
+    }
+    if radius_m > MAX_RADIUS_M {
+        return Err(anyhow!(
+            "radius_m {radius_m} exceeds MAX_RADIUS_M ({MAX_RADIUS_M}); \
+             tile the query into smaller chunks"
+        ));
+    }
+    Ok(())
+}
+
 /// Fetch buildings within radius of a point.
 ///
 /// Uses an inclusive `["building"]` filter that matches all building values
 /// (residential, commercial, yes, etc.) and also queries relations for
-/// multipolygon buildings.  Default recommended radius: 500 m.
+/// multipolygon buildings.  Default recommended radius: 500 m. Max 5000 m.
 pub async fn fetch_buildings(center: &GeoPoint, radius_m: f64) -> Result<Vec<OsmFeature>> {
+    check_radius(radius_m)?;
     let bbox = GeoBBox::from_center(center, radius_m);
     let query = format!(
         r#"[out:json][timeout:25];(way["building"]({},{},{},{});relation["building"]({},{},{},{}););out body;>;out skel qt;"#,
@@ -21,8 +41,9 @@ pub async fn fetch_buildings(center: &GeoPoint, radius_m: f64) -> Result<Vec<Osm
     parse_buildings(&resp)
 }
 
-/// Fetch roads within radius.
+/// Fetch roads within radius. Max 5000 m; returns an error otherwise.
 pub async fn fetch_roads(center: &GeoPoint, radius_m: f64) -> Result<Vec<OsmFeature>> {
+    check_radius(radius_m)?;
     let bbox = GeoBBox::from_center(center, radius_m);
     let query = format!(
         r#"[out:json][timeout:10];way["highway"]({},{},{},{});out body;>;out skel qt;"#,
@@ -48,7 +69,18 @@ async fn overpass_query(query: &str) -> Result<serde_json::Value> {
     Ok(resp.json().await?)
 }
 
-fn parse_buildings(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
+/// Parse an Overpass JSON response into building features.
+///
+/// Returns an error if the response is not a JSON object or is missing the
+/// top-level `elements` array (indicative of a malformed/non-Overpass payload).
+pub fn parse_overpass_json(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
+    if !data.is_object() || data.get("elements").and_then(|e| e.as_array()).is_none() {
+        return Err(anyhow!("malformed Overpass response: missing `elements` array"));
+    }
+    parse_buildings(data)
+}
+
+pub(crate) fn parse_buildings(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
     let mut buildings = Vec::new();
     let mut nodes: std::collections::HashMap<u64, [f64; 2]> = std::collections::HashMap::new();
 

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/src/temporal.rs

@@ -150,6 +150,8 @@ pub async fn detect_tile_changes(
 }
 
 /// Post a change event to the local ruOS brain.
+///
+/// Brain URL honours `RUVIEW_BRAIN_URL` via [`crate::brain::brain_url`].
 async fn store_change_event(cache_key: &str, result: &TileChangeResult) -> Result<()> {
     let client = reqwest::Client::builder()
         .timeout(std::time::Duration::from_secs(5))
@@ -164,7 +166,7 @@ async fn store_change_event(cache_key: &str, result: &TileChangeResult) -> Resul
     });
 
     client
-        .post("http://127.0.0.1:9876/memories")
+        .post(format!("{}/memories", crate::brain::brain_url()))
         .json(&body)
         .send()
         .await?;

rust-port/wifi-densepose-rs/crates/wifi-densepose-geo/tests/geo_test.rs

@@ -1,5 +1,5 @@
-use ruview_geo::*;
+use wifi_densepose_geo::*;
-use ruview_geo::coord;
+use wifi_densepose_geo::coord;
 
 #[test]
 fn test_haversine() {
@@ -63,7 +63,7 @@ fn test_hgt_parse() {
     for h in [100i16, 110, 120, 105, 115, 125, 110, 120, 130] {
         data.extend_from_slice(&h.to_be_bytes());
     }
-    let grid = ruview_geo::terrain::parse_hgt(&data, 43.0, -79.0).unwrap();
+    let grid = wifi_densepose_geo::terrain::parse_hgt(&data, 43.0, -79.0).unwrap();
     assert_eq!(grid.heights[0], 100.0);
     assert_eq!(grid.heights[4], 115.0);
 }
@@ -71,14 +71,14 @@ fn test_hgt_parse() {
 #[test]
 fn test_registration() {
     let origin = GeoPoint { lat: 43.6532, lon: -79.3832, alt: 76.0 };
-    let reg = ruview_geo::register::auto_register(&origin);
+    let reg = wifi_densepose_geo::register::auto_register(&origin);
     
     let local = [10.0f32, 0.0, 20.0]; // 10m east, 20m forward
-    let geo = ruview_geo::register::local_to_wgs84(&reg, &local);
+    let geo = wifi_densepose_geo::register::local_to_wgs84(&reg, &local);
     assert!((geo.lat - origin.lat).abs() < 0.001);
     assert!((geo.lon - origin.lon).abs() < 0.001);
     
-    let back = ruview_geo::register::wgs84_to_local(&reg, &geo);
+    let back = wifi_densepose_geo::register::wgs84_to_local(&reg, &geo);
     assert!((back[0] - local[0]).abs() < 0.1);
     assert!((back[2] - local[2]).abs() < 0.1);
 }

rust-port/wifi-densepose-rs/crates/wifi-densepose-pointcloud/src/brain_bridge.rs

@@ -2,11 +2,26 @@
 //!
 //! Periodically summarizes the sensor pipeline state and stores it
 //! as brain memories for the agent to reason about.
+//!
+//! The brain URL is read from the `RUVIEW_BRAIN_URL` env var on first use,
+//! defaulting to `http://127.0.0.1:9876`.
 
 use crate::csi_pipeline::PipelineOutput;
 use anyhow::Result;
+use std::sync::OnceLock;
 
-const BRAIN_URL: &str = "http://127.0.0.1:9876";
+/// Default brain URL if `RUVIEW_BRAIN_URL` is not set.
+const DEFAULT_BRAIN_URL: &str = "http://127.0.0.1:9876";
+
+fn brain_url() -> &'static str {
+    static BRAIN_URL: OnceLock<String> = OnceLock::new();
+    BRAIN_URL.get_or_init(|| {
+        let url = std::env::var("RUVIEW_BRAIN_URL")
+            .unwrap_or_else(|_| DEFAULT_BRAIN_URL.to_string());
+        eprintln!("  brain_bridge: using brain URL {url}");
+        url
+    })
+}
 
 /// Store a spatial observation in the brain.
 async fn store_memory(category: &str, content: &str) -> Result<()> {
@@ -19,7 +34,7 @@ async fn store_memory(category: &str, content: &str) -> Result<()> {
         "content": content,
     });
 
-    client.post(format!("{BRAIN_URL}/memories"))
+    client.post(format!("{}/memories", brain_url()))
         .json(&body)
         .send()
         .await?;
@@ -77,14 +92,18 @@ pub async fn sync_to_brain(pipeline: &PipelineOutput, camera_frames: u64) {
 
 /// Check if brain is reachable.
 pub async fn brain_available() -> bool {
-    reqwest::Client::builder()
+    // Must .await directly — calling `Handle::current().block_on(...)` from
+    // inside an async fn panics with "Cannot start a runtime from within a
+    // runtime" because a worker thread is already driving a runtime.
+    let Ok(client) = reqwest::Client::builder()
         .timeout(std::time::Duration::from_secs(2))
         .build()
-        .ok()
+    else {
-        .and_then(|c| {
+        return false;
-            tokio::runtime::Handle::current().block_on(async {
+    };
-                c.get(format!("{BRAIN_URL}/health")).send().await.ok()
+    client
-            })
+        .get(format!("{}/health", brain_url()))
-        })
+        .send()
-        .is_some()
+        .await
+        .is_ok()
 }

rust-port/wifi-densepose-rs/crates/wifi-densepose-pointcloud/src/main.rs

@@ -170,6 +170,10 @@ async fn train(data_dir: &str, brain_url: Option<&str>) -> Result<()> {
     println!();
 
     let expanded = data_dir.replace('~', &dirs::home_dir().unwrap_or_default().to_string_lossy());
+    // Defence-in-depth: reject path-traversal in the CLI argument before we
+    // hand it to TrainingSession (which also checks). This catches malicious
+    // CLI input early, before any I/O.
+    let _sanitised = training::sanitize_data_path(&expanded)?;
     let mut session = training::TrainingSession::new(&expanded)?;
     session.load_samples()?;
 

rust-port/wifi-densepose-rs/crates/wifi-densepose-pointcloud/src/training.rs

@@ -9,9 +9,63 @@
 //!    DPO training — "this depth estimate was correct" vs "this was wrong"
 
 use crate::fusion::OccupancyVolume;
-use anyhow::Result;
+use anyhow::{anyhow, Result};
 use serde::{Deserialize, Serialize};
-use std::path::PathBuf;
+use std::path::{Path, PathBuf};
+
+/// Reject a user-supplied path that contains `..` components (path traversal
+/// attempt) and return a normalised [`PathBuf`]. We only reject `..`; other
+/// components (including relative prefixes and `~`) are accepted verbatim —
+/// the caller is responsible for tilde expansion if needed.
+pub fn sanitize_data_path(raw: &str) -> Result<PathBuf> {
+    let p = PathBuf::from(raw);
+    for comp in p.components() {
+        if matches!(comp, std::path::Component::ParentDir) {
+            return Err(anyhow!(
+                "refusing to use data dir with `..` traversal component: {raw}"
+            ));
+        }
+    }
+    Ok(p)
+}
+
+/// Ensure `child` (after joining to `base`) stays inside the canonicalised
+/// `base` directory. Returns the canonical child path on success. Used by
+/// every filesystem write site in this module to prevent path-traversal
+/// through user-supplied names.
+fn safe_join(base: &Path, child: &str) -> Result<PathBuf> {
+    // Reject absolute children and any `..` components up front.
+    let child_path = Path::new(child);
+    if child_path.is_absolute() {
+        return Err(anyhow!("child path must be relative: {child}"));
+    }
+    for comp in child_path.components() {
+        if matches!(comp, std::path::Component::ParentDir) {
+            return Err(anyhow!("child path may not contain `..`: {child}"));
+        }
+    }
+
+    let joined = base.join(child_path);
+    // Canonicalise base (must exist) and verify joined starts with it. If the
+    // joined file doesn't exist yet we canonicalise the parent.
+    let canonical_base = base.canonicalize()
+        .map_err(|e| anyhow!("data_dir not accessible {}: {e}", base.display()))?;
+    let canonical_parent = joined
+        .parent()
+        .ok_or_else(|| anyhow!("no parent for {}", joined.display()))?;
+    let canonical_parent = canonical_parent
+        .canonicalize()
+        .map_err(|e| anyhow!("parent not accessible {}: {e}", canonical_parent.display()))?;
+    if !canonical_parent.starts_with(&canonical_base) {
+        return Err(anyhow!(
+            "refusing to write outside data_dir: {}",
+            joined.display()
+        ));
+    }
+    Ok(canonical_parent.join(
+        joined.file_name().ok_or_else(|| anyhow!("no filename for {}", joined.display()))?,
+    ))
+}
 
 /// Training data sample — a snapshot of the scene.
 #[derive(Serialize, Deserialize)]
@@ -97,12 +151,24 @@ impl Default for DepthCalibration {
 }
 
 impl TrainingSession {
+    /// Create a new training session rooted at `data_dir`.
+    ///
+    /// `data_dir` must not contain `..` components — we reject path traversal
+    /// attempts from CLI/API input. The directory is created if missing and
+    /// then canonicalised so every subsequent write stays inside it.
     pub fn new(data_dir: &str) -> Result<Self> {
-        let path = PathBuf::from(data_dir);
+        let path = sanitize_data_path(data_dir)?;
-        std::fs::create_dir_all(&path)?;
+        std::fs::create_dir_all(&path)
+            .map_err(|e| anyhow!("failed to create data_dir {}: {e}", path.display()))?;
+        // Canonicalise so path-traversal checks in safe_join have a fixed root.
+        let path = path
+            .canonicalize()
+            .map_err(|e| anyhow!("cannot canonicalise data_dir {}: {e}", path.display()))?;
 
         // Load existing calibration if available
-        let cal_path = path.join("calibration.json");
+        let cal_path = safe_join(&path, "calibration.json")
+            // safe_join needs the parent to exist; for initial load that's always data_dir
+            .or_else(|_| Ok::<_, anyhow::Error>(path.join("calibration.json")))?;
         let calibration = if cal_path.exists() {
             let data = std::fs::read_to_string(&cal_path)?;
             serde_json::from_str(&data).unwrap_or_default()
@@ -257,8 +323,8 @@ impl TrainingSession {
 
         eprintln!("  Occupancy threshold={:.2} accuracy={:.1}%", cal.density_threshold, cal.accuracy * 100.0);
 
-        // Save
+        // Save (path-traversal safe: constant filename under canonical data_dir)
-        let path = self.data_dir.join("occupancy_calibration.json");
+        let path = safe_join(&self.data_dir, "occupancy_calibration.json")?;
         std::fs::write(&path, serde_json::to_string_pretty(&cal)?)?;
 
         Ok(cal)
@@ -295,8 +361,8 @@ impl TrainingSession {
             });
         }
 
-        // Save pairs
+        // Save pairs (path-traversal safe: constant filename under canonical data_dir)
-        let path = self.data_dir.join("preference_pairs.jsonl");
+        let path = safe_join(&self.data_dir, "preference_pairs.jsonl")?;
         let mut f = std::fs::File::create(&path)?;
         for pair in &pairs {
             use std::io::Write;
@@ -347,24 +413,24 @@ impl TrainingSession {
         Ok(stored)
     }
 
-    /// Save current calibration to disk.
+    /// Save current calibration to disk (path-traversal safe).
     fn save_calibration(&self) -> Result<()> {
-        let path = self.data_dir.join("calibration.json");
+        let path = safe_join(&self.data_dir, "calibration.json")?;
         std::fs::write(&path, serde_json::to_string_pretty(&self.calibration)?)?;
         Ok(())
     }
 
-    /// Save all samples to disk.
+    /// Save all samples to disk (path-traversal safe).
     pub fn save_samples(&self) -> Result<()> {
-        let path = self.data_dir.join("samples.json");
+        let path = safe_join(&self.data_dir, "samples.json")?;
         std::fs::write(&path, serde_json::to_string_pretty(&self.samples)?)?;
         eprintln!("  Saved {} samples to {}", self.samples.len(), path.display());
         Ok(())
     }
 
-    /// Load samples from disk.
+    /// Load samples from disk (path-traversal safe).
     pub fn load_samples(&mut self) -> Result<()> {
-        let path = self.data_dir.join("samples.json");
+        let path = safe_join(&self.data_dir, "samples.json")?;
         if path.exists() {
             let data = std::fs::read_to_string(&path)?;
             self.samples = serde_json::from_str(&data)?;