Operator-initiated calibration that records 30 s of stationary CSI,
emits a per-subcarrier baseline (amplitude mean+variance via Welford,
phase via circular sin/cos sums with von Mises dispersion), and gates
downstream stages on a deviation z-score. Plugs into multistatic
coherence gating, motion/presence detection, and the new ADR-134 CIR
estimator as a reference-subtracted input.
API surface (under wifi_densepose_signal):
CalibrationConfig::{ht20, ht40, he20, he40}
CalibrationRecorder { record(), finalize(), frames_recorded() }
BaselineCalibration {
subcarriers: Vec<SubcarrierBaseline>,
deviation(&CsiFrame), subtract_in_place(&mut CsiFrame),
to_bytes(), from_bytes()
}
CalibrationDeviationScore { amplitude_z_median, amplitude_z_max,
phase_drift_median, motion_flagged }
CalibrationError { SubcarrierMismatch, TierMismatch,
InsufficientFrames, VersionMismatch, TruncatedBuffer }
Binary baseline format: magic 0xCA1B_0001 + u8 version=1 + u8 tier +
captured_at_unix_s (i64) + frame_count (u64) + num_subcarriers (u32) +
[SubcarrierBaseline; N] as 16 bytes each (amp_mean, amp_variance,
phase_mean, phase_dispersion as f32 LE). Hand-written serialisation so
the format is stable across Rust toolchain versions without serde drift.
CLI: new `wifi-densepose calibrate` subcommand binds a UDP listener
(0xC511_0001 frames), streams them through CalibrationRecorder, prints
a real-time z-score banner per ADR-135 §risk 1 (operator-may-be-moving),
aborts on sustained high deviation, and writes the binary baseline to
disk. Local UDP packet parser duplicated from sensing-server (per ADR
discussion — avoids cross-crate API churn).
Witness: cross-platform-deterministic SHA-256 over the per-subcarrier
quantised baseline profile (u16 LE at 1e-2/1e-4/1e-3, no sort) using
the lesson learnt from the CIR PR #837 libm-jitter fix. Hash:
d6bce07ecb1648e6936561df44bf4a3bfc17bb0ba5f692646b2301d105b52f67
CI guard: new "ADR-135 calibration witness proof (determinism guard)"
step under the Rust Workspace Tests job, adjacent to the existing
ADR-134 CIR guard. Regressions are unambiguously attributable.
Hardware-in-loop validation: full 600-frame capture exercised via the
new scripts/synth-csi-udp.py emitter targeting 127.0.0.1:5005. The CLI
binary received 600 frames at 20 Hz, z_med stable at ~0.7, motion
correctly NOT flagged, finalised baseline written to baseline.bin (860
bytes) with correct magic + version + timestamp in the header. Live
ESP32 capture from COM9 is operator follow-up — requires provisioning
the firmware's UDP target IP to match the host running the CLI.
Test results (cargo test -p wifi-densepose-signal --no-default-features):
lib: 382 pass / 0 fail / 1 ignored
calibration_synthetic: 17 pass / 0 fail
calibration_drift: 5 pass / 0 fail
calibration_roundtrip: 10 pass / 0 fail
cir_*: 9 pass + 6 documented P2 ignores
doctest: 10 pass
Bench: 20 Criterion combinations registered
(recorder_record / recorder_finalize / deviation / record_600 /
to_bytes across HT20/HT40/HE20/HE40 tiers).
Witness: bash scripts/verify-calibration-proof.sh → VERDICT: PASS
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(signal): ADR-134 — CSI→CIR via ISTA + NeumannSolver warm-start
End-to-end first-class Channel Impulse Response estimation in the Rust
workspace. Bridges CSI (frequency domain) to CIR (delay domain) so
multistatic coherence gating, NLOS/LOS classification, and (at HT40+)
ToF ranging become tractable in `wifi-densepose-signal`.
Algorithm: ISTA L1 sparse recovery over a normalized DFT sub-matrix
sensing operator Φ ∈ ℂ^(K×G) with G = 3K (3× super-resolution). The
Tikhonov-regularised warm start re-uses `ruvector_solver::neumann::
NeumannSolver` — same call pattern as `fresnel.rs:280` and
`train/subcarrier.rs:225` — so no new crate dependencies.
Tiers supported: HT20 / HT40 / HE20 (Tier A-HE, C6) / HE40. The C6
HE-LTF tier is the preferred Tier A target whenever an 11ax AP is in
range; firmware substrate already shipped at v0.7.0-esp32 per ADR-110.
Measured performance (release, single CirEstimator shared across 12
links): HT20 2.72 ms / HE20 3.20 ms / HT40 13.43 ms / HE40 9.71 ms per
estimate(). HT20 12-link multistatic 17.7 ms — fits the 50 ms RuvSense
cycle; HT40 12-link 74 ms exceeds it and is flagged in ADR-134 §2.7 as
requiring Rayon parallelism or G=2K super-res reduction.
Measured Φ conditioning: κ(Φ) ≈ 1.00 identically across all tiers.
ADR-134 §2.3 was corrected — the C6 advantage is statistical SNR gain
(√(242/52) ≈ 2.16×) from more independent measurements, not improved
conditioning.
Witness: bit-deterministic SHA-256 over CirEstimator output on the
synthetic ADR-028 reference signal (100 frames, top-5 taps, 1e-6
quantization). Hash committed to expected_cir_features.sha256;
verify-cir-proof.sh wires the check into the existing witness bundle.
CI: cargo test --features cir + verify-cir-proof.sh added as separate
steps under the Rust Workspace Tests job; regressions are unambiguously
attributable.
Files:
- ADR + WITNESS-LOG-028 row 34 + CLAUDE.md module count (14 → 15)
- src/ruvsense/cir.rs (~540 LOC) + lib.rs re-exports + multistatic.rs
wire-up (reversible via `use_cir_gate=false`)
- 3 integration tests + Criterion bench + 3 deterministic fixtures
- cir_proof_runner binary + sha256 + verify-cir-proof.sh
Test rate: 395 pass / 6 ignored (P2 ISTA hyperparameter tuning; see
#[ignore] reasons) / 0 fail. cargo check clean; verify-cir-proof.sh
VERDICT: PASS.
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(signal): make CIR witness cross-platform-deterministic
The first witness (Windows-generated hash 89704bfd…) failed on Linux CI
with a different hash (b36741bf…). Root cause: hashing `re`/`im` parts of
top-5 taps at 1e-6 precision is too tight against libm differences in
sin/cos/sqrt across glibc, MSVC, and Apple-clang. The previous
"top-5 sorted by magnitude" form also suffered from rank instability when
taps are near-tied — libm jitter could shuffle the ordering even when the
algorithm is unchanged.
New canonical form: full per-tap quantised-magnitude profile in natural
index order, no sort.
- 156 taps × 2 bytes (u16 le) per frame = 312 bytes/frame.
- Quantisation 1e-2 — robust to ~1e-3 float drift while still tripping
on real algorithmic changes (e.g., a 10× lambda shift moves magnitudes
by >1e-2).
- No top-K selection — eliminates the unstable magnitude-sort step.
Regenerated expected_cir_features.sha256 — new hash 120bd7b1…
If the next CI run still mismatches, the cause is structural (rustfft SIMD
code path selection or NeumannSolver internal ordering), not magnitudes,
and the witness needs further coarsening or to be made platform-tagged.
Co-Authored-By: claude-flow <ruv@ruv.net>
Two changes from the ADR-125 e2e bootstrap session:
1. CLAUDE.md hardware table: COM4 -> COM12 for ESP32-C6 (the C6 +
Seeed MR60BHA2 dev kit now enumerates on COM12 on ruvzen, not
COM4 as previously documented). Same fix applied to the ESP32-S3
row (COM7 -> COM9) which CLAUDE.local.md already covered but the
top-level table had not been updated.
2. scripts/hap-test-sensor.py — the ~80 LOC HAP-python sidecar that
ADR-125 §2.1.a names as the reference implementation. Already
running on ruv-mac-mini, already paired with operator's iPhone
(paired_clients: 1), already round-trips a MotionDetected
characteristic from a touch-file toggle through the HomePod (as
Home Hub) to the Home app.
Substrate validated for iter 2+:
- C6 provisioned on ruv.net (IP 192.168.1.179, ch 5, RSSI -38)
- UDP frames: 44 packets in 8s @ mac-mini:5005 (~5.5 pps)
- HAP bridge paired and live
Refs ADR-125, #794.
Co-Authored-By: claude-flow <ruv@ruv.net>
Each of these crates was a single-line doc-comment placeholder:
v2/crates/wifi-densepose-api/src/lib.rs: //! WiFi-DensePose REST API (stub)
v2/crates/wifi-densepose-db/src/lib.rs: //! WiFi-DensePose database layer (stub)
v2/crates/wifi-densepose-config/src/lib.rs: //! WiFi-DensePose configuration (stub)
with empty [dependencies] in their Cargo.toml and zero references from any
source file or Cargo.toml in the workspace (verified by `grep -rln
wifi-densepose-api/-db/-config` across `v2/`). They were reserved early for
an envisioned REST/database/config split that never materialised.
The functionality these would have provided is covered today by:
- REST/WS: wifi-densepose-sensing-server (Axum)
- Config: per-crate config + CLI args in sensing-server and desktop
- DB: no persistent state; system is real-time
Removal prevents `cargo` from listing dead crates, shipping empty published
artifacts to crates.io, or wasting reviewer attention. If any of these names
is needed in the future, reintroduce them with a real implementation.
Per the issue reporter (@bannned-bit / Matad0r) #578 explicitly listed
"OR be removed from workspace members until implementation starts" as an
acceptable resolution.
Updated:
- `v2/Cargo.toml`: drop the three members (with inline comment explaining why)
- `v2/Cargo.lock`: regenerated by cargo check
- `CLAUDE.md`: drop the three rows from the crate table and the publishing
order list
- `CHANGELOG.md`: add an `[Unreleased] / Removed` entry
Verified:
- `cd v2 && cargo check --workspace --no-default-features` -> finished
in 48s, no errors (warnings unchanged)
rvCSI now lives in its own repo (github.com/ruvnet/rvcsi), vendored here as
`vendor/rvcsi` (PR #543) and published to crates.io as `rvcsi-* 0.3.x` /
to npm as `@ruv/rvcsi`. The inline copies in `v2/crates/rvcsi-*` (added in
#542) were a duplicate; this removes them and re-points the docs.
- `git rm -r v2/crates/rvcsi-{core,dsp,events,adapter-file,adapter-nexmon,ruvector,runtime,node,cli}`
- `v2/Cargo.toml`: remove the 9 from `members` (note: `vendor/rvcsi/Cargo.toml`
is its own workspace — depend on the published crates or the submodule paths,
not as v2 workspace members).
- `CLAUDE.md`: the 9 crate-table rows collapse to one `vendor/rvcsi` row.
- `README.md` docs table: rvCSI entry points at the standalone repo + notes the
submodule / crates.io / npm / plugin.
- `CHANGELOG.md`: `[Unreleased]` entry.
The ADRs (ADR-095, ADR-096), PRD, and DDD model stay in `docs/` as the design
record of the incubation. `cargo build --workspace --no-default-features` and
`cargo test --workspace --no-default-features` stay green.
Co-Authored-By: claude-flow <ruv@ruv.net>
Adds first-class support for the Raspberry Pi 5's WiFi chip (CYW43455 /
BCM43455c0 — the same 802.11ac wireless as the Pi 4 / Pi 3B+ / Pi 400, and the
chip with the most mature nexmon_csi support), plus a registry of the other
Nexmon-supported Broadcom/Cypress chips.
rvcsi-adapter-nexmon — new `chips.rs`:
- `NexmonChip` (Bcm43455c0, Bcm43436b0, Bcm4366c0, Bcm4375b1, Bcm4358, Bcm4339,
Unknown{chip_ver}) + `RaspberryPiModel` (Pi5/Pi4/Pi400/Pi3BPlus/PiZero2W/
PiZeroW) — Pi5/Pi4/Pi400/Pi3B+ → Bcm43455c0; PiZero2W → Bcm43436b0.
- `nexmon_adapter_profile(chip)` / `raspberry_pi_profile(model)` build the
per-device `AdapterProfile` (channels: 2.4 GHz 1-13 + 5 GHz UNII for dual-band;
bandwidths 20/40/80[/160]; expected subcarrier counts 64/128/256[/512]) that
`validate_frame` bounds CSI frames against.
- `NexmonChip::from_chip_ver` (0x4345 → Bcm43455c0, 0x4339, 0x4358, 0x4366,
0x4375 — best-effort; the raw `chip_ver` is always preserved) and `from_slug`
/ `RaspberryPiModel::from_slug` ("pi5", "raspberry pi 4", "bcm43455c0", ...).
- `NexmonCsiHeader::chip()`; `NexmonPcapAdapter` auto-detects the chip from the
packets' `chip_ver` and uses the matching profile, overridable via
`.with_chip(NexmonChip)` / `.with_pi_model(RaspberryPiModel)`; `.detected_chip()`.
rvcsi-runtime: `decode_nexmon_pcap_for(.., chip_spec)` (validate against a chip /
Pi model, drop non-conforming) + `nexmon_profile_for(spec)`; `NexmonPcapSummary`
gains `chip_names` + `detected_chip`; `CaptureSummary` gains `chip`.
rvcsi-cli: `record --source nexmon-pcap --chip pi5`; new `nexmon-chips`
subcommand (lists chips + Pi models, human or `--json`); `inspect-nexmon` and
`inspect` now print the resolved chip.
rvcsi-node (napi-rs): `nexmonDecodePcap` gains an optional `chip` arg;
`nexmonChipName(chipVer)`, `nexmonProfile(spec)`, `nexmonChips()`. @ruv/rvcsi
SDK + `.d.ts` updated (AdapterProfile / NexmonChipsListing interfaces, the new
fns, `chip` on CaptureSummary, `chip_names`/`detected_chip` on NexmonPcapSummary).
168 rvcsi tests pass (adapter-nexmon 22→28, cli 9→10), 0 failures, clippy-clean.
The synthetic test captures now stamp chip_ver = 0x4345 (the BCM4345 family chip
ID), so the chip-detection happy path is exercised end to end.
ADR-096, CHANGELOG, README, CLAUDE.md updated.
https://claude.ai/code/session_01CdYAPvRTjcch6YrYf42n1z
- CHANGELOG: expand the rvCSI entry to cover all 9 crates (incl. rvcsi-runtime
and the @ruv/rvcsi npm SDK), the napi-c / napi-rs seams, and the 142-test /
clippy-clean status; note the daemon + MCP server are follow-ups.
- CLAUDE.md: add the 9 `rvcsi-*` crates to the Key Rust Crates table.
- README: add an rvCSI row to the docs index; bump the ADR count (79→96) and
DDD-model count (7→8).
https://claude.ai/code/session_01CdYAPvRTjcch6YrYf42n1z
The Rust port at v2/ has been the primary codebase since the rename
in #427. The Python implementation at v1/ is no longer the active
target; the only load-bearing path is the deterministic proof bundle
at v1/data/proof/ (per ADR-011 / ADR-028 witness verification).
Move the whole Python tree into archive/v1/ and document the policy
in archive/README.md: no new features, bug fixes only when they affect
a still-load-bearing path (currently just the proof), CI continues to
verify the proof on every push and PR.
Path references updated in 26 files via path-pattern sed (only
matches v1/<known-child> patterns, never bare v1 or API URLs like
/api/v1/). Two double-prefix typos (archive/archive/v1/) caught and
hand-fixed in verify-pipeline.yml and ADR-011.
Validated:
- Python proof verify.py imports cleanly at archive/v1/data/proof/
(numpy/scipy still required; CI installs requirements-lock.txt
from archive/v1/ now)
- cargo test --workspace --no-default-features → 1,539 passed,
0 failed, 8 ignored (unaffected by Python tree relocation)
- ESP32-S3 on COM7 untouched (no firmware paths changed)
After-merge: contributors should re-run any local `python v1/...`
commands as `python archive/v1/...` (CLAUDE.md and CHANGELOG already
updated).
The Rust port lived two directories deep (rust-port/wifi-densepose-rs/)
without any sibling under rust-port/ that warranted the extra level.
Move the whole workspace up to v2/ to match v1/ (Python) at the same
depth and shorten every cd / build command across the repo.
git mv preserves history for all tracked files. 60 files updated for
path references (CI workflows, ADRs, docs, scripts, READMEs, internal
.claude-flow state). Two manual fixes for relative-cd paths in
CLAUDE.md and ADR-043 that became wrong after the depth change
(cd ../.. → cd ..).
Validated:
- cargo check --workspace --no-default-features → clean (after target/
nuke; the gitignored target/ was carried by the OS rename and had
hard-coded old paths in build scripts)
- cargo test --workspace --no-default-features → 1,539 passed, 0 failed,
8 ignored (same totals as pre-rename)
- ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm)
After-merge follow-up: contributors should `rm -rf v2/target` once and
let cargo regenerate from the new path.
- CHANGELOG: add ADR-043 entries (14 new API endpoints, WebSocket fix,
mobile WS fix, 25 real mobile tests)
- README: update ADR count from 41 to 43
- CLAUDE.md: update ADR count from 32 to 43
- User guide: add 14 new REST endpoints to API reference table, note
that /ws/sensing is available on the HTTP port, update ADR count
On case-insensitive Windows both files map to the same physical file but
Git tracks them as separate index entries. Force-update CLAUDE.md to match.
Co-Authored-By: claude-flow <ruv@ruv.net>
rUv
Claude