feat(pointcloud): integrate ESP32 CSI as optional data stream from hosted viewer
The hosted GitHub Pages viewer can now act as a thin client for a locally-running ruview-pointcloud serve instance — flip a button, the ESP32's CSI fusion (camera depth + WiFi CSI + mmWave) renders inside the same Three.js scene that previously only showed the face mesh demo. No clone, no rebuild, no toolchain on the visitor's side. Server (stream.rs): - Add tower_http::cors::CorsLayer with a deliberate allowlist: https://ruvnet.github.io, http://localhost:*, http://127.0.0.1:*, and 'null' (for file:// origins). Anything else is denied — not a wildcard CORS. Modern browsers (Chrome 94+, Firefox 116+, Safari 16.4+) treat 127.0.0.1 as a "potentially trustworthy" origin so HTTPS Pages → HTTP loopback is permitted. The new layer wraps the existing /api/cloud, /api/splats, /api/status, /health routes. - Cargo.toml: pull in workspace tower-http (cors feature already on). Viewer: - New "📡 Connect ESP32…" CTA bottom-right. Clicking prompts for a ruview-pointcloud serve URL (default http://127.0.0.1:9880), persists the last-used value in localStorage, and reloads with ?backend=<url> so the existing remote-mode fetch path takes over. When already connected the button toggles to "disconnect" and reloads back to the demo. - Reuses the existing transport selector — no new code path to maintain. The face mesh / synthetic demo render path is unaffected; this is purely an additive UI affordance over the ?backend= query. Docs: - ADR-094 §2.3 expanded with the local-ESP32 workflow and the CORS posture rationale. - Workflow README documents ?backend=http://127.0.0.1:9880 as the intended local-ESP32 path. Tests: cargo test -p wifi-densepose-pointcloud → 15/15 passed. Co-Authored-By: claude-flow <ruv@ruv.net>
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@ -45,8 +45,15 @@ jobs:
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- Default — synthetic in-browser demo (no backend, no network calls).
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- `?backend=auto` — fetch from `/api/splats` on the same origin
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(only works when the viewer is served by `ruview-pointcloud serve`).
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- `?backend=<url>` — fetch from `<url>/api/splats` on a CORS-permitting
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host (e.g. `?backend=https://my-ruview.example.com`).
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- `?backend=<url>` — fetch from `<url>/api/splats`. The intended
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local-ESP32 use is `?backend=http://127.0.0.1:9880`: run
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`ruview-pointcloud serve --bind 127.0.0.1:9880` on the same
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machine with your ESP32 streaming CSI to UDP port 3333, then
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visit the URL above. The local server's CorsLayer permits
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requests from `https://ruvnet.github.io`, and modern browsers
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permit HTTPS→127.0.0.1 mixed-content as a trustworthy origin.
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The "📡 Connect ESP32" button in the viewer prompts for this
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URL and persists it in localStorage.
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- `?live=1` — require a live backend; show an offline message instead
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of falling back to the synthetic demo.
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@ -66,10 +66,32 @@ and publish it to `gh-pages/pointcloud/` alongside the other demos:
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serves the viewer and the API together). On any failure (404, network
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error, CORS), fall back silently to synthetic-demo rendering so the
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tab never dies.
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3. **Remote mode** (`?backend=<url>`) — fetch from `<url>/api/splats`. The
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user supplies a CORS-permitting host running their own
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`ruview-pointcloud serve` (e.g. a Tailscale-exposed home node). Badge
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reads `● REMOTE <url>`. Same silent demo fallback on failure.
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3. **Remote mode** (`?backend=<url>`) — fetch from `<url>/api/splats`.
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This is the **integrated-ESP32** path: the user runs
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`ruview-pointcloud serve --bind 127.0.0.1:9880` locally with an
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ESP32-S3 streaming CSI to UDP port 3333, then opens
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`https://ruvnet.github.io/RuView/pointcloud/?backend=http://127.0.0.1:9880`.
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The hosted Pages viewer becomes a thin client for the local Rust
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fusion pipeline (camera depth + WiFi CSI + mmWave) without a clone
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or rebuild. The viewer also exposes a "📡 Connect ESP32" button that
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prompts for the URL, persists it in `localStorage`, and reloads
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with the query param.
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For this to work the local server must answer the browser's CORS
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preflight. `stream.rs` therefore installs a `tower_http` `CorsLayer`
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that allows three origin classes:
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- `https://ruvnet.github.io` — the published Pages demo.
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- `http://localhost:*` and `http://127.0.0.1:*` — developer running
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the bundled `viewer.html` directly.
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- `null` — `file://` origins.
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Mixed-content (HTTPS Pages → HTTP loopback) is permitted because
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modern browsers (Chrome 94+, Firefox 116+, Safari 16.4+) classify
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`127.0.0.1` and `localhost` as "potentially trustworthy" origins.
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Any other origin (a public hostname, etc.) is denied — this is not
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a wildcard CORS posture. Badge reads `● REMOTE <url>`. Same silent
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demo fallback on failure.
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4. **Strict-live mode** (`?live=1`) — disable the demo fallback. If the
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chosen transport fails, replace the info panel with an explicit offline
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message (`● OFFLINE — Live backend required but unreachable`). Useful
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@ -14,6 +14,7 @@ serde_json = { workspace = true }
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tokio = { workspace = true }
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anyhow = { workspace = true }
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axum = { workspace = true }
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tower-http = { workspace = true }
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clap = { version = "4", features = ["derive"] }
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chrono = "0.4"
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dirs = "5"
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@ -8,11 +8,13 @@ use crate::fusion;
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use crate::pointcloud;
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use axum::{
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extract::State,
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http::{HeaderValue, Method},
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response::Html,
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routing::get,
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Json, Router,
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};
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use std::sync::{Arc, Mutex};
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use tower_http::cors::{AllowOrigin, CorsLayer};
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struct AppState {
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latest_cloud: Mutex<pointcloud::PointCloud>,
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@ -108,12 +110,36 @@ pub async fn serve(bind: &str, _brain: Option<&str>) -> anyhow::Result<()> {
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if has_camera { eprintln!(" Camera: LIVE (/dev/video0)"); }
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else { eprintln!(" Camera: DEMO"); }
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// CORS — allow the hosted GitHub Pages viewer to fetch /api/splats from a
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// locally-running instance of this server. Modern browsers treat
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// 127.0.0.1/localhost as a "potentially trustworthy" origin so the HTTPS
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// page can reach a plain-HTTP loopback backend without mixed-content
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// blocking. Origins permitted:
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// - https://ruvnet.github.io (the published RuView Pages demo)
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// - http://localhost:* / http://127.0.0.1:* (developer running the
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// viewer.html bundled with this binary)
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// Anything else is denied, so this is not a "wildcard" CORS.
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let cors = CorsLayer::new()
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.allow_origin(AllowOrigin::predicate(|origin: &HeaderValue, _req| {
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let s = match origin.to_str() {
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Ok(v) => v,
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Err(_) => return false,
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};
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s == "https://ruvnet.github.io"
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|| s.starts_with("http://localhost")
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|| s.starts_with("http://127.0.0.1")
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|| s == "null" // file:// origins
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}))
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.allow_methods([Method::GET, Method::OPTIONS])
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.allow_headers([axum::http::header::CONTENT_TYPE]);
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let app = Router::new()
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.route("/", get(index))
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.route("/api/cloud", get(api_cloud))
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.route("/api/splats", get(api_splats))
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.route("/api/status", get(api_status))
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.route("/health", get(api_health))
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.layer(cors)
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.with_state(state);
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println!("╔══════════════════════════════════════════════╗");
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@ -14,6 +14,9 @@
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#cam-cta { position: absolute; bottom: 16px; left: 50%; transform: translateX(-50%); padding: 10px 18px; background: #e8a634; color: #0a0a0a; border: none; border-radius: 4px; font-family: monospace; font-size: 14px; font-weight: bold; cursor: pointer; z-index: 10; }
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#cam-cta:hover { background: #ffc04d; }
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#cam-cta.hidden { display: none; }
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#esp-cta { position: absolute; bottom: 16px; right: 16px; padding: 8px 14px; background: transparent; color: #e8a634; border: 1px solid #e8a634; border-radius: 4px; font-family: monospace; font-size: 12px; cursor: pointer; z-index: 10; }
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#esp-cta:hover { background: rgba(232, 166, 52, 0.12); }
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#esp-cta.connected { background: #4f4; color: #0a0a0a; border-color: #4f4; }
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.live { color: #4f4; } .demo { color: #f44; }
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.face { color: #4cf; }
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.section { margin-top: 6px; padding-top: 6px; border-top: 1px solid #333; }
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@ -32,6 +35,7 @@
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<div id="stats">Loading...</div>
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</div>
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<button id="cam-cta">▶ Project Subject — render your face into the Vault</button>
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<button id="esp-cta" title="Stream live CSI from a local ruview-pointcloud serve instance (e.g. http://127.0.0.1:9880)">📡 Connect ESP32…</button>
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<script>
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var scene = new THREE.Scene();
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scene.background = new THREE.Color(0x0a0a0a);
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@ -600,6 +604,42 @@
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});
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})();
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// Wire the ESP32 backend CTA: prompts for a ruview-pointcloud serve URL,
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// persists last-used value in localStorage, and reloads with the
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// ?backend=<url> query so the existing remote-mode path takes over.
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// Disconnect by clicking again when already connected.
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(function wireEspCta() {
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var btn = document.getElementById("esp-cta");
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if (!btn) return;
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var connected = backendArg.startsWith("http");
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if (connected) {
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btn.classList.add("connected");
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btn.textContent = "📡 ESP32 connected · disconnect";
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}
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btn.addEventListener("click", function() {
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if (connected) {
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// Strip ?backend= from current URL and reload — return to demo.
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var u = new URL(window.location.href);
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u.searchParams.delete("backend");
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window.location.href = u.toString();
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return;
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}
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var stored;
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try { stored = localStorage.getItem("ruview.backendUrl"); } catch (_) { stored = null; }
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var def = stored || "http://127.0.0.1:9880";
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var url = window.prompt(
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"Enter the ruview-pointcloud serve URL (run `ruview-pointcloud serve` locally with your ESP32 streaming CSI to UDP port 3333):",
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def
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);
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if (!url) return;
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url = url.replace(/\/+$/, "");
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try { localStorage.setItem("ruview.backendUrl", url); } catch (_) {}
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var u2 = new URL(window.location.href);
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u2.searchParams.set("backend", url);
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window.location.href = u2.toString();
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});
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})();
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fetchCloud();
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setInterval(fetchCloud, 100); // 10 Hz — denser updates so face mesh feels live and the spiral animates smoothly
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