fix(mmwave): presence-gate vitals so empty beam doesn't show a number
The FFT will always find *some* peak in 0.8-2.0 Hz, even on pure clutter, and the peak-to-mean ratio frequently lands at 0.5-0.7 "confidence" from noise alone. Net result: the HR pill showed 75-97 BPM with 60%+ confidence while the operator was across the room with their back to the radar. Add a presence gate based on the target gate's micromotion energy: empty room peak_micro_mid 1k-3k person nearby peak_micro_mid 10k-20k person in beam peak_micro_mid 40k-80k Threshold at 20k. Below it we null both BR and HR (the breathing detector's internal buffer is still fed so it stays warm for instant re-acquisition). New diagnostic endpoint GET /api/v1/mmwave/gates dumps current motion/micro arrays + the target gate so we can re-calibrate the threshold on new firmware. UI: pill now shows "· нет цели" (no target) when presence=false, so the operator can tell "buffer warming up" from "nobody in beam" from "module fell back to Normal Mode". Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
arsen
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ui/raw.html
29
ui/raw.html
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@ -630,10 +630,17 @@ async function pollMmwaveVitals() {
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} else {
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brBpmMm.textContent = ' — BPM ';
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brBpmMm.style.color = '';
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// Buffer-fill hint: at 6 Hz × 30 s = 180 samples needed.
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const fill = j && j.buffer_status ? j.buffer_status.breathing_samples : 0;
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const cap = j && j.buffer_status ? j.buffer_status.breathing_capacity : 180;
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brConfMm.textContent = cap > 0 ? '· ' + fill + '/' + cap : '·';
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// Three reasons to show "—":
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// 1. no presence (radar sees no body in beam) → "нет цели"
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// 2. buffer warming up (first 30 s) → "NN/180"
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// 3. presence ok but FFT failed (rare) → "·"
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if (j && j.available && j.presence === false) {
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brConfMm.textContent = '· нет цели';
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} else {
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const fill = j && j.buffer_status ? j.buffer_status.breathing_samples : 0;
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const cap = j && j.buffer_status ? j.buffer_status.breathing_capacity : 180;
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brConfMm.textContent = cap > 0 && fill < cap ? '· ' + fill + '/' + cap : '·';
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}
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}
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if (typeof vs.heart_rate_bpm === 'number' && Number.isFinite(vs.heart_rate_bpm) && vs.heart_rate_bpm > 0) {
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const v = vs.heart_rate_bpm;
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@ -642,13 +649,17 @@ async function pollMmwaveVitals() {
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hrBpmMm.style.color = out ? '#f0a020' : '';
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hrConfMm.textContent = '· ' + ((vs.heartbeat_confidence || 0) * 100).toFixed(0) + '%';
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} else {
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// ADR-122: heart rate becomes available after ~30 s buffer fill,
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// when the radar is in Engineering Mode (per-gate energies). If
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// the module fell back to Normal Mode (ASCII distance) HR will
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// stay missing.
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// ADR-122: HR only published when presence-gate passes (target
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// micromotion energy above clutter threshold). Show *why* the
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// value is missing so the operator can tell "warming up" from
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// "nobody in beam" from "module fell back to Normal Mode".
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hrBpmMm.textContent = ' — BPM ';
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hrBpmMm.style.color = '';
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hrConfMm.textContent = '·';
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if (j && j.available && j.presence === false) {
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hrConfMm.textContent = '· нет цели';
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} else {
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hrConfMm.textContent = '·';
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}
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}
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} catch (_) {
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brBpmMm.textContent = ' — BPM '; brConfMm.textContent = '·';
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@ -5100,6 +5100,30 @@ async fn mmwave_latest() -> Json<serde_json::Value> {
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}
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}
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/// ADR-122 diagnostic: GET /api/v1/mmwave/gates — current per-gate
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/// energies + target-gate selection. Lets the operator see whether
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/// the radar is actually picking up a body or just background noise.
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async fn mmwave_gates() -> Json<serde_json::Value> {
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use wifi_densepose_sensing_server::mmwave;
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let stale = std::time::Duration::from_secs(2);
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match mmwave::current_gates(stale) {
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Some(snap) => {
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let peak_motion_mid = snap.motion[1..14].iter().copied().max().unwrap_or(0);
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let peak_micro_mid = snap.micro[1..14].iter().copied().max().unwrap_or(0);
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Json(serde_json::json!({
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"available": true,
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"motion": snap.motion,
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"micro": snap.micro,
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"target_gate": snap.target_gate,
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"peak_motion_mid": peak_motion_mid,
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"peak_micro_mid": peak_micro_mid,
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"age_ms": snap.at.elapsed().as_millis() as u64,
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}))
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}
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None => Json(serde_json::json!({"available": false})),
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}
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}
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/// ADR-121 follow-up: GET /api/v1/mmwave/vitals — breathing + (best-
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/// effort) heart-rate computed from the mmWave distance time-series.
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/// Returns `{ available: false }` if no recent reading or if the
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@ -5113,9 +5137,11 @@ async fn mmwave_vitals() -> Json<serde_json::Value> {
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match mmwave::current_vitals(stale) {
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Some(vs) => {
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let (br_samples, br_cap) = mmwave::buffer_status();
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let presence = mmwave::current_presence(stale).unwrap_or(false);
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Json(serde_json::json!({
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"available": true,
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"source": "mmwave:hlk-ld2402",
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"presence": presence,
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"vital_signs": vs,
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"buffer_status": {
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"breathing_samples": br_samples,
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@ -7716,6 +7742,7 @@ async fn main() {
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.route("/api/v1/adaptive/debug", get(adaptive_debug))
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.route("/api/v1/mmwave/latest", get(mmwave_latest))
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.route("/api/v1/mmwave/vitals", get(mmwave_vitals))
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.route("/api/v1/mmwave/gates", get(mmwave_gates))
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.route("/api/v1/adaptive/unload", post(adaptive_unload))
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// Field model calibration (eigenvalue-based person counting)
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.route("/api/v1/calibration/start", post(calibration_start))
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@ -80,6 +80,20 @@ const FRAME_TYPE_ENGINEERING: u8 = 0x01;
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/// heartbeat band (0.8–2.0 Hz) to resolve cleanly.
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const GATE_HISTORY_LEN: usize = 180;
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/// Presence threshold on the target gate's *micromotion* energy. The
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/// micro-channel responds to small chest-wall displacement; when no
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/// body is in the radar's main beam this stays in the 1k–5k clutter
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/// range. When a torso is on-axis it climbs above 30k. We use 20k as
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/// a conservative gate — below this we refuse to publish HR (and
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/// flag breathing as low-confidence) so the operator doesn't read a
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/// random FFT peak as a vital sign.
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///
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/// Empirically observed on this exact module:
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/// * empty room : peak_micro_mid ~1k–3k
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/// * person nearby : peak_micro_mid ~10k–20k
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/// * person in beam: peak_micro_mid ~40k–80k
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const PRESENCE_MICRO_THRESHOLD: u32 = 20_000;
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/// Latest mmWave reading + when it landed.
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#[derive(Debug, Clone, Copy)]
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pub struct MmwaveReading {
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@ -165,6 +179,20 @@ pub fn buffer_status() -> (usize, usize) {
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(br_samples, br_cap)
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}
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/// True if the latest gate snapshot has enough on-axis micromotion
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/// energy to plausibly be a body — i.e. vitals are meaningful right
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/// now, not a noise hallucination.
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pub fn current_presence(staleness: Duration) -> Option<bool> {
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let snap = current_gates(staleness)?;
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let peak_micro_mid = snap.micro[1..GATE_COUNT.saturating_sub(1)]
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.iter()
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.copied()
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.max()
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.unwrap_or(0);
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let target_micro = snap.micro.get(snap.target_gate).copied().unwrap_or(0);
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Some(peak_micro_mid >= PRESENCE_MICRO_THRESHOLD || target_micro >= PRESENCE_MICRO_THRESHOLD)
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}
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/// Spawn the blocking serial reader thread. Returns immediately.
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/// `port` example: `/dev/cu.usbserial-1140` (macOS) or `/dev/ttyUSB0`
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/// (Linux). `baud` should be 115200 for HLK-LD2402 default firmware.
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@ -439,14 +467,38 @@ fn parse_engineering_payload(payload: &[u8]) {
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}
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}
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// Presence gate: peak micromotion in mid-range gates. If nobody
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// is in the beam this is dominated by clutter at ~1–5k. We refuse
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// to publish vitals below the threshold so the operator stops
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// seeing a confident-looking HR number from pure noise.
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let peak_micro_mid = micro[1..GATE_COUNT.saturating_sub(1)]
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.iter()
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.copied()
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.max()
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.unwrap_or(0);
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let target_micro = micro.get(target_gate).copied().unwrap_or(0);
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let present = peak_micro_mid >= PRESENCE_MICRO_THRESHOLD
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|| target_micro >= PRESENCE_MICRO_THRESHOLD;
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// ── breathing: distance time-series via existing detector ──────
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let cm_f = distance_cm as f64;
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let mut vs = br_detector().lock().unwrap().process_frame(&[cm_f], &[]);
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// ── heart rate: per-gate micromotion FFT in HR band ────────────
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let (hr_bpm, hr_conf) = compute_heart_rate(target_gate);
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vs.heart_rate_bpm = hr_bpm;
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vs.heartbeat_confidence = hr_conf;
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if !present {
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// Keep the breathing detector's buffer warm so we don't lose
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// 30 s of warm-up the moment a target reappears, but null the
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// *output* so the UI shows "—" instead of a confident-looking
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// hallucination of vitals.
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vs.breathing_rate_bpm = None;
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vs.breathing_confidence = 0.0;
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vs.heart_rate_bpm = None;
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vs.heartbeat_confidence = 0.0;
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} else {
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// ── heart rate: per-gate micromotion FFT in HR band ────────
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let (hr_bpm, hr_conf) = compute_heart_rate(target_gate);
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vs.heart_rate_bpm = hr_bpm;
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vs.heartbeat_confidence = hr_conf;
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}
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*vitals_slot().lock().unwrap() = Some(vs);
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}
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@ -630,10 +630,17 @@ async function pollMmwaveVitals() {
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} else {
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brBpmMm.textContent = ' — BPM ';
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brBpmMm.style.color = '';
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// Buffer-fill hint: at 6 Hz × 30 s = 180 samples needed.
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const fill = j && j.buffer_status ? j.buffer_status.breathing_samples : 0;
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const cap = j && j.buffer_status ? j.buffer_status.breathing_capacity : 180;
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brConfMm.textContent = cap > 0 ? '· ' + fill + '/' + cap : '·';
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// Three reasons to show "—":
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// 1. no presence (radar sees no body in beam) → "нет цели"
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// 2. buffer warming up (first 30 s) → "NN/180"
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// 3. presence ok but FFT failed (rare) → "·"
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if (j && j.available && j.presence === false) {
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brConfMm.textContent = '· нет цели';
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} else {
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const fill = j && j.buffer_status ? j.buffer_status.breathing_samples : 0;
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const cap = j && j.buffer_status ? j.buffer_status.breathing_capacity : 180;
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brConfMm.textContent = cap > 0 && fill < cap ? '· ' + fill + '/' + cap : '·';
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}
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}
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if (typeof vs.heart_rate_bpm === 'number' && Number.isFinite(vs.heart_rate_bpm) && vs.heart_rate_bpm > 0) {
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const v = vs.heart_rate_bpm;
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@ -642,13 +649,17 @@ async function pollMmwaveVitals() {
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hrBpmMm.style.color = out ? '#f0a020' : '';
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hrConfMm.textContent = '· ' + ((vs.heartbeat_confidence || 0) * 100).toFixed(0) + '%';
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} else {
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// ADR-122: heart rate becomes available after ~30 s buffer fill,
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// when the radar is in Engineering Mode (per-gate energies). If
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// the module fell back to Normal Mode (ASCII distance) HR will
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// stay missing.
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// ADR-122: HR only published when presence-gate passes (target
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// micromotion energy above clutter threshold). Show *why* the
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// value is missing so the operator can tell "warming up" from
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// "nobody in beam" from "module fell back to Normal Mode".
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hrBpmMm.textContent = ' — BPM ';
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hrBpmMm.style.color = '';
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hrConfMm.textContent = '·';
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if (j && j.available && j.presence === false) {
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hrConfMm.textContent = '· нет цели';
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} else {
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hrConfMm.textContent = '·';
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}
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}
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} catch (_) {
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brBpmMm.textContent = ' — BPM '; brConfMm.textContent = '·';
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