Iter 33 — closes a real test-coverage gap. The iter 17 staleness gate
(returns None when latest_sync_at is older than 9 s = 3 × the firmware's
VALID_WINDOW_MS) was shipped but never directly tested. A future
careless edit changing `from_secs(9)` to e.g. `from_secs(90)` would
silently break ADR-029/030 multistatic fusion freshness guarantees.
Test (3 assertions, no sleep — uses `Instant::checked_sub` to set
latest_sync_at to past values directly):
* 1 s old → Some (fresh)
* 8 s old → Some (just inside the gate)
* 10 s old → None (just outside the gate)
If anyone widens or narrows the gate, exactly one of these assertions
fires and points at the off-by-one. Total time for the test < 1 ms.
sync_snapshot_helper_tests: 6/6 green.
Branch-coord clean — main.rs only.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 32 — completes the helper-extraction discipline started in iter 30.
The iter 15 inline `ns.latest_sync = Some(sync); ns.latest_sync_at = ...`
was the LAST untested receive-side mutation; now it's a named method
with 2 tests covering its full state-transition surface.
Refactor:
Add `NodeState::apply_sync_packet(pkt, now)` taking an Instant so
the test can pass deterministic timing.
udp_receiver_task now calls the method instead of touching the
fields inline — one less place to break the staleness gate.
Tests (2 new — sync_snapshot_helper_tests module now at 5 tests):
apply_sync_packet_populates_a_fresh_node
Mirrors udp_receiver_task's first-packet-from-unknown-node path:
asserts latest_sync goes from None → Some, latest_sync_at matches
the passed Instant exactly (no clock skew from real Instant::now()),
and sync_snapshot() now returns Some (REST 200 OK path lit up).
apply_sync_packet_overwrites_older_data
Subsequent packets must replace, not accumulate. Asserts sequence,
local_us advance, and the staleness clock resets. This is what
keeps the §A0.10-smoothed offset tracking the latest beacon rather
than drifting with stale state.
cargo test sync_snapshot_helper → 5/5 green.
Branch-coord clean — no Cargo.toml / cli.rs touched.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 31 — parallels the iter 25 WebSocket sync docs with the matching
HTTP surface. Adds 2 rows to the REST API table + a worked "Get fleet
mesh state" example showing the sample JSON for two C6 boards (leader
+ follower) so operators see the leader's near-zero offset alongside
the follower's §A0.10-measured 1.16 s delta in the same response.
Also covers the 404 paths the iter 29 handlers actually emit:
- {"error": "unknown_node", "node_id": N}
- {"error": "no_sync", "node_id": N, "hint": "..."}
The "hint" field is verbatim so operators searching docs for the
string they see in curl output land here.
Links back to the existing "Per-node mesh sync (ADR-110)" section
for field meanings instead of duplicating them — one source of truth.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 30 — defends the iter 29 REST endpoints + iter 23 WebSocket
broadcast with tests, AND deduplicates the four call sites that all
built the same NodeSyncSnapshot inline.
Refactor:
Add `NodeState::sync_snapshot() -> Option<NodeSyncSnapshot>` as the
single source of truth. All four call sites simplified:
1. node_sync_endpoint (REST /api/v1/nodes/:id/sync) — 12 → 5 lines
2. mesh_endpoint (REST /api/v1/mesh) — 11 → 3 lines
3. WebSocket vitals-only NodeInfo (line 4284) — 9 → 1 line
4. WebSocket CSI-frame NodeInfo (line 4617) — 9 → 1 line
Net: -35 lines, single point of contact for any future schema change.
Tests (3 new, all green; brings binary suite to 95+):
fresh_node_with_no_sync_returns_none
Mirrors REST 404 "no_sync" + WebSocket sync omission paths.
node_with_latest_sync_produces_correct_snapshot
Mirrors REST 200 OK + WebSocket sync field paths.
Asserts §A0.10's measured 1_163_565 µs offset survives the helper.
snapshot_reflects_leader_state
Leader-case shape: is_leader=true, offset≈0 (–7 µs call-stack).
These tests cover BOTH REST routes and BOTH WebSocket NodeInfo sites
through the shared helper — one test per behavioral path, no axum
state plumbing required. cargo check -p ...sensing-server → green.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 29 — extends the iter 23 WebSocket NodeSyncSnapshot publication
with an HTTP surface so non-streaming clients (curl scripts, Home
Assistant REST sensors, Prometheus exporters, automation rule probes)
can poll mesh state without holding a WebSocket connection.
GET /api/v1/nodes/:id/sync
200 → Json(NodeSyncSnapshot) when latest_sync is present
404 → {"error": "unknown_node" | "no_sync", "node_id": N}
— "no_sync" includes a `hint` pointing operators at the
"no mesh peer or not v0.6.9+" diagnostic.
GET /api/v1/mesh
200 → { "nodes": { "<id>": NodeSyncSnapshot, ... }, "total": N }
Nodes without a recent sync are omitted; an empty `nodes` object
means no mesh peers reachable.
Both handlers reuse the iter 23 NodeSyncSnapshot struct (same JSON
shape as the WebSocket broadcast — clients get one schema, two
delivery modes). The Path<u8> extractor returns 404 on overflow
automatically (axum), so /api/v1/nodes/256/sync gives a clean error.
cargo check -p wifi-densepose-sensing-server --no-default-features → green.
Curl quick-start (added to operator playbook material in a follow-up):
curl http://localhost:3000/api/v1/mesh # full fleet
curl http://localhost:3000/api/v1/nodes/9/sync # one node
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 28 — the ADR-110 row in the index used to mention only the
witness log. Expand it to also link the review guide and branch-state
map, plus headline the v0.7.0 firmware release and the §A0.10 measured
numbers (99.56% cross-board RX, 104.1 µs smoothed sync stdev) so
reviewers see the empirical evidence at glance.
Adds the host-decoder summary inline (Python 10 tests + Rust 15 tests +
cross-language hex pin) so the test surface is visible without
clicking through.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 27 — captures everything that landed since the Wave 4 v0.6.8 entry:
v0.6.9 sync packet emission, v0.7.0 byte-19 bit-4 wire-fix, full Python
+ Rust decoder API parity (25 unit tests), sensing-server consumes
sync packets + applies measured-fps EMA, NodeSyncSnapshot in
WebSocket sensing_update JSON (3 serialization tests), user-guide
"Per-node mesh sync (ADR-110)" section, branch-coordination docs,
1437-test workspace verification baseline.
The CHANGELOG entry references every test count and witness section
so reviewers can trace any claim back to a concrete test or §A0.x log
entry. No more "see commits" — the changelog states the substantive
changes and their evidence.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 26 — closes the ABI gap between the Python and Rust SyncPacket
decoders. Before this, Python could decode the wire but had no helpers
to apply offsets or recover per-frame mesh time; any Python-side tooling
(host scripts, replay analysers, notebooks) would have to re-implement
the math from scratch and could drift from Rust silently.
New methods on the Python SyncPacket dataclass:
local_minus_epoch_us() -> int
Signed local-vs-mesh offset. Matches Rust byte-for-byte.
apply_to_local(local_at_frame_us: int) -> int
offset = epoch_us - local_us
return local_at_frame_us + offset
Identity at local_at_frame_us == self.local_us returns epoch_us.
mesh_aligned_us_for_sequence(frame_seq: int, fps_hz: float) -> int
Sequence-based interpolation matching Rust's identical method.
Includes u32 wraparound handling via masked-subtract — verified
against Rust's iter 17 `mesh_aligned_for_sequence_handles_seq_wraparound`.
3 new Python tests (10 total in TestSyncPacketParser, all green in 0.24s):
test_apply_to_local_recovers_epoch_at_sync_point
Identity at the sync point. Also verifies local_minus_epoch_us()
matches §A0.10's measured 1,163,565 µs bench number.
test_apply_to_local_preserves_inter_frame_delta
Frame arriving 5 s after the sync on the follower's local clock
produces mesh time exactly 5 s after sync.epoch_us.
test_mesh_aligned_us_for_sequence_matches_rust
Cross-language parity with Rust's
`end_to_end_sync_decode_then_frame_mesh_recovery` (iter 20):
100 frames after sync.sequence at 20 fps = sync.epoch_us + 5 s.
Cross-checks via apply_to_local — both paths must agree.
Test count after iter 26:
Python TestSyncPacketParser: 10/10 (was 7/7)
Rust sync_packet::tests: 15/15
Combined: 25 unit tests defending the SyncPacket contract across
the two host language stacks.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 25 — converts iter 23's NodeSyncSnapshot from "exists in the JSON"
to "documented for UI integrators". Adds a new subsection
'Per-node mesh sync (ADR-110)' under WebSocket Streaming with:
- Full sample sensing_update payload showing the optional `sync` object
- Field-by-field table (offset_us / is_leader / is_valid / smoothed /
sequence / csi_fps_ema / csi_fps_samples) with type, bench-derived
reference values, and links back to §A0.10
- Explicit "when sync is omitted" rules — backwards compat for
pre-iter-23 UI clients
- Rendering recommendations for UI authors (Leader badge / Sync lost /
Calibrating / jitter histogram)
- Step-by-step recipe for recovering a mesh-aligned timestamp for any
CSI frame from its sequence number + the sync snapshot, so
ADR-029/030 multistatic consumers have a quick reference
The sample JSON values match iter 24's serialization tests byte-for-byte,
so the docs and tests can't drift independently.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 24 — ultra-opt for public-API stability. Iter 23 added a new JSON
field that UI clients (viz.html, future Tauri desktop, automation) now
depend on; this iter locks its exact shape so any future rename /
removal fails a named test instead of silently breaking consumers.
New module `node_sync_snapshot_serialization_tests` (3 tests, all green):
* sync_present_serializes_all_seven_fields
Builds NodeInfo with Some(sample_sync), serializes to serde_json::Value,
asserts all 7 documented field names exist (offset_us, is_leader,
is_valid, smoothed, sequence, csi_fps_ema, csi_fps_samples) and
spot-checks numeric values.
* sync_absent_omits_the_key_entirely
Builds NodeInfo with sync = None, asserts the `sync` JSON key is
DROPPED entirely (not emitted as `"sync": null`). This is the
backwards-compat contract that lets pre-iter-23 UI clients ignore
mesh-aware nodes silently.
* sync_round_trips_through_serde
to_string / from_str round-trip on a populated NodeInfo recovers
every field of the sync sub-object byte-for-byte (modulo float tol).
Test infrastructure: pure pure serde_json — no network, no fixtures,
no I/O. Adds 92 lines, 0 runtime allocs in the steady path.
Branch-coord clean (no Cargo.toml or cli.rs touched).
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 22 — defensive ultra-opt after iter 17-19 burned ~30 minutes
recovering from cross-branch checkouts. Reference card so the next
collaborator (or the next /loop) doesn't have to re-derive the layout
from git log.
Captures:
* Branch ownership table (who owns adr-110-esp32c6 vs
feat/adr-115-ha-mqtt-matter, what each carries, what to NOT merge)
* File-level region map for the two shared files
(Cargo.toml + sensing-server/src/main.rs) — the regions are
DISJOINT so merges should be clean line-merge with no conflicts
* Quick verification commands for either branch
* Recovery procedure pointer to iter 18 commit 2997165bc message
Verification baseline pinned in the doc: full v2 cargo workspace test
suite at 1437 tests, 0 failures (iter 22 measurement). Anyone running
that locally and seeing the same number knows the branch is sane.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 21 — ultra-opt for protocol correctness across the two production
decoders. Pin the same 32-byte canonical hex in both Python and Rust
tests; if either decoder drifts from the wire, ONE of the tests starts
failing — and it's clear which side moved.
Canonical packet: COM9 sync-pkt #1 from §A0.12 live capture, expressed
as exact little-endian bytes:
10a111c5 09 01 06 00 magic + node + ver + flags + rsvd
f26db70100000000 local_us = 28_798_450
c5aca50100000000 epoch_us = 27_634_885
1400000000000000 sequence = 20 + reserved
Python test:
archive/v1/tests/unit/test_esp32_binary_parser.py::TestSyncPacketParser
::test_canonical_wire_bytes_match_rust_decoder
— decodes the pinned hex, asserts every field including the §A0.10
1,163,565 µs offset.
Rust test:
v2/crates/wifi-densepose-hardware/src/sync_packet.rs::tests
::canonical_wire_bytes_match_python_decoder
— decodes the same bytes, asserts the same fields, then re-encodes
via to_bytes() and asserts the round-trip produces the EXACT same
32 bytes. So this also catches drift in the Rust encoder.
Test counts after this iter:
Rust sync_packet: 15/15 green (was 14)
Python SyncPacketParser: 7/7 green (was 6)
Branch contract: if a future PR changes the firmware wire format, BOTH
tests must be updated atomically with the new canonical hex. CI will
gate this naturally.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 20 — defensive ultra-opt: one test that exercises the entire
iter 14→17 chain in a single assertion, so any future refactor that
breaks the contract surfaces as a single, named regression instead of
14 unit-test diffs to triangulate.
1. firmware emits sync packet (bytes built here as a stand-in)
2. host decodes via SyncPacket::from_bytes — assert round-trip
3. a CSI frame arrives 100 sequences later (≈ 5 s @ 20 fps)
4. mesh_aligned_us_for_sequence recovers the mesh timestamp
5. cross-check: same value via raw apply_to_local
Asserts mesh_us == sync.epoch_us + 5_000_000 µs exactly, plus both
paths (sequence-interpolation + direct local→mesh) agree byte-for-byte.
Result: 14/14 sync_packet tests pass, full wifi-densepose-hardware
crate at 136/136 (no regression from iter 1-19). Contract for any
ADR-029/030 multistatic fusion consumer is now defended by a test that
fails loud if either piece of the chain drifts.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 19 — without this call, iter 18's EMA fps tracking was dead code
because csi_fps_samples stayed 0 forever and mesh_aligned_us_for_csi_frame
always fell back to the 20 Hz constant.
In udp_receiver_task's parse_esp32_frame branch, replace the bare
last_frame_time assignment with NodeState::observe_csi_frame_arrival,
which computes dt vs last_frame_time, feeds update_csi_fps_ema (α=1/8),
bumps csi_fps_samples, and sets last_frame_time as a side effect (same
value the bare assignment did).
Effect: after ~5 CSI frames arrive from any node, mesh_aligned_us_for_csi_frame
returns interpolated timestamps using the node's actually-observed frame
rate instead of the 20 Hz default. Real bench rate was ~10 fps, so this
halves the per-frame timestamp error in §A0.12-style multistatic alignment.
cargo check -p wifi-densepose-sensing-server --no-default-features → green.
Co-Authored-By: claude-flow <ruv@ruv.net>
Adds `mqtt` and `matter` Cargo features (default off) plus 20+ new CLI
flags wired through cli.rs per ADR-115 §3.8 / §3.10 / §3.11 / §3.12:
- MQTT (HA-DISCO): --mqtt, --mqtt-host/--mqtt-port/--mqtt-username/
--mqtt-password-env/--mqtt-client-id/--mqtt-prefix, TLS controls
(--mqtt-tls/--mqtt-ca-file/--mqtt-client-cert/--mqtt-client-key),
rate controls (--mqtt-refresh-secs, --mqtt-rate-{vitals,motion,count,
rssi,pose}, --mqtt-publish-pose).
- Privacy (ADR-106): --privacy-mode strips HR/BR/pose pre-publish.
- Matter (HA-FABRIC): --matter, --matter-setup-file, --matter-reset,
--matter-vendor-id (dev VID 0xFFF1 per §9.9), --matter-product-id.
- Semantic (HA-MIND): --semantic (default ON), thresholds/zones files,
--semantic-baseline-window-days, --no-semantic <PRIMITIVE> repeatable.
rumqttc 0.24 added as optional dep with rustls (Windows-friendly parity
with ureq in this crate). matter-rs deferred to P7 spike per §9.10.
6 unit tests cover defaults, compound flag composition, and repeatable
--no-semantic. Tests pass:
cargo test -p wifi-densepose-sensing-server --no-default-features cli::tests
6 passed; 0 failed.
Branch coordination: this work is on feat/adr-115-ha-mqtt-matter off
main, parallel to ADR-110 work on adr-110-esp32c6 (no file overlap).
Refs #776 (ADR-115 implementation tracking issue).
Co-Authored-By: claude-flow <ruv@ruv.net>
ADR-115 lands the dual-protocol HA integration design:
- MQTT auto-discovery (HA-DISCO) carrying full RuView telemetry
- Matter Bridge (HA-FABRIC) carrying the standardised subset across
Apple Home / Google Home / Alexa / SmartThings / HA
- Semantic Automation Primitives (HA-MIND) — 10 v1 inferred states
(someone-sleeping, possible-distress, room-active, elderly-anomaly,
meeting-in-progress, bathroom-occupied, fall-risk-elevated, bed-exit,
no-movement, multi-room-transition) that turn raw signals into HA
entities, Matter events, and Apple Home scene triggers — the inference
layer that moves RuView from "RF sensing" to "ambient intelligence
infrastructure". All 13 §9 open questions ACK'd by maintainer.
P1 (this commit) — `mqtt` and `matter` Cargo features (default off) +
20+ new CLI flags wired through cli.rs:
- --mqtt / --mqtt-host / --mqtt-port / --mqtt-username /
--mqtt-password-env / --mqtt-client-id / --mqtt-prefix /
--mqtt-tls / --mqtt-ca-file / --mqtt-client-cert / --mqtt-client-key
- --mqtt-refresh-secs / --mqtt-rate-{vitals,motion,count,rssi,pose} /
--mqtt-publish-pose
- --privacy-mode (ADR-106 primitive-isolation contract)
- --matter / --matter-setup-file / --matter-reset /
--matter-vendor-id (dev VID 0xFFF1 per §9.9) / --matter-product-id
- --semantic (default ON) / --semantic-thresholds-file /
--semantic-zones-file / --semantic-baseline-window-days /
--no-semantic <PRIMITIVE> (repeatable)
6 unit tests cover: defaults safe (mqtt off, vid=0xFFF1, semantic on),
compound flag composition, repeatable --no-semantic. All pass:
cargo test -p wifi-densepose-sensing-server --no-default-features cli::tests
test result: ok. 6 passed; 0 failed.
rumqttc 0.24 added as optional dep (gated behind `mqtt` feature) with
rustls instead of openssl for Windows parity with the rest of the
workspace. matter-rs intentionally absent until P7 spike validates the
SDK choice (§9.10).
Coordinates with ADR-110 work (different branch, different files).
This branch is feat/adr-115-ha-mqtt-matter off main. ADR-110 work
continues on adr-110-esp32c6.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 18's commit 2997165bc accidentally absorbed the ADR-115 agent's
uncommitted MQTT/Matter additions (Cargo.toml `rumqttc` dep + [features]
block, cli.rs --mqtt CLI flags) into the adr-110-esp32c6 branch during
the cross-branch checkout described in that commit's message.
The actual iter 18 EMA work in main.rs is correct and stays; this commit
restores Cargo.toml + cli.rs to their HEAD~1 (iter 17) state so the
ADR-115 agent's stashed `stash@adr115-pending-work` can be popped cleanly
back onto their feat/adr-115-ha-mqtt-matter branch without colliding.
Net effect on adr-110-esp32c6:
- main.rs iter 18 EMA: kept ✓
- 4 fps_ema_tests: still green
- Cargo.toml: back to iter-17 state (wifi-densepose-hardware dep only)
- cli.rs: back to iter-17 state (no MQTT flags)
- Cargo.lock: synced to match
The ADR-115 agent can pop their stash on feat/adr-115-ha-mqtt-matter
and resume without merging an unrelated branch's ADR-110 work.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 18 (after recovery from a cross-branch slip — see commit-history
context below). Replaces the hardcoded 20 Hz CSI_FPS_HZ constant in
mesh_aligned_us_for_csi_frame with a per-node EMA of observed
inter-frame intervals, falling back to 20 Hz until ≥5 samples land.
Real bench data (§A0.12 captures) showed the actual CSI rate at ~10 fps
because the firmware's CSI_MIN_SEND_INTERVAL_US gate combined with
ruv.net's traffic level paces it to that. Using 20 Hz against actual
10 fps inflates Δus 2× and shifts the recovered mesh timestamp by up
to the inter-sync interval / 2 = ~1 s. Measured fps fixes that.
State on NodeState:
csi_fps_ema: f64 — EMA (seeded at 20.0)
csi_fps_samples: u32 — counts inter-frame deltas observed
API:
NodeState::observe_csi_frame_arrival(now) — call once per CSI frame
from udp_receiver_task
update_csi_fps_ema(prev_fps, dt_sec) -> Option<f64> — free fn,
testable
mesh_aligned_us_for_csi_frame now uses the measured fps when samples ≥ 5,
falls back to 20 Hz otherwise.
4 unit tests (fps_ema_tests module, all passing on the binary):
* steady_10hz_converges_toward_10 — 40 samples at 100 ms converge to ±0.1 Hz
* steady_20hz_stays_near_20 — 20 samples at 50 ms stay within 0.05 Hz
* nonpositive_dt_rejected — dt ≤ 0 returns None
* long_gap_rejected_as_implausible — dt > 1 s rejected (likely a dropout)
Branch-coordination note: this iter's working tree was briefly applied
to feat/adr-115-ha-mqtt-matter by a `git checkout` between iter 17 and
iter 18. Stashed the ADR-115 agent's MQTT/Matter Cargo.toml work
(`stash@adr115-pending-work`) before switching back here. No code lost.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 17 — closes the per-frame mesh-time loop for ADR-018 CSI frames
that carry no per-frame local_us field (the v1 wire format reserves no
slot — see WITNESS-LOG-110 §A0.11).
Math: pair the frame's sequence number against the sync packet's
sequence high-water + an assumed CSI frame rate. Δframes × 1/fps
estimates the node-local delta from the sync, then apply_to_local
recovers the mesh epoch.
SyncPacket::mesh_aligned_us_for_sequence(frame_seq: u32, fps_hz: f64) -> u64
3 new unit tests (13 total in sync_packet::tests, all green):
* mesh_aligned_for_sequence_identity_at_sync_point — at sync.sequence
returns sync.epoch_us exactly
* mesh_aligned_for_sequence_extrapolates_forward — 20 frames @ 20 fps
extrapolates by exactly 1 s
* mesh_aligned_for_sequence_handles_seq_wraparound — u32 sequence
wrap doesn't jump backward by 2^32 (wrapping_sub guards it)
NodeState hook:
NodeState::mesh_aligned_us_for_csi_frame(frame_sequence: u32) -> Option<u64>
Wraps the SyncPacket method, defaults fps_hz=20.0 (matches the
firmware's CSI_MIN_SEND_INTERVAL_US-implied ceiling), enforces the
same 9 s staleness gate as mesh_aligned_us.
cargo check -p wifi-densepose-sensing-server --no-default-features → green.
cargo test -p wifi-densepose-hardware sync_packet → 13/13, 122 filtered.
Downstream ADR-029/030 multistatic fusion code can now do:
if frame.adr018_flags.ieee802154_sync_valid {
if let Some(mesh_us) = ns.mesh_aligned_us_for_csi_frame(frame.sequence) {
// pair this frame with frames from sibling nodes by mesh_us
}
}
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 16 closes the math loop and updates ADR-110 to reflect the full
P1-P10 sprint outcome (per user request).
Code (the math layer that converts the iter 15 stored sync into a
per-frame mesh-aligned timestamp):
wifi-densepose-hardware:
SyncPacket::apply_to_local(local_at_frame_us: u64) -> u64
Pure integer math: offset = epoch - local; mesh = local_at_frame + offset.
3 new unit tests (10 total, all green):
- apply_to_local_recovers_packet_epoch (identity at the packet's local_us)
- apply_to_local_preserves_inter_frame_delta (Δlocal == Δmesh)
- apply_to_local_on_leader_is_near_identity (leader offset ≈ 0)
wifi-densepose-sensing-server:
NodeState::mesh_aligned_us(local_at_frame_us: u64) -> Option<u64>
Returns the recovered mesh timestamp using the most-recent sync
packet, or None if no sync seen or last one older than 9 s
(3× firmware VALID_WINDOW_MS = 9 s staleness gate).
cargo check -p wifi-densepose-sensing-server --no-default-features
→ green
ADR-110 substantial rewrite (per user "update adr 110 with details"):
- Status line: P1-P10 complete, firmware-side substrate closed at v0.7.0.
- Front matter now lists all 4 firmware releases + witness link.
- Phase table grows a P10 row capturing the v0.6.8 / v0.6.9 / v0.7.0
arc (EMA smoother + sync packet + bit-4 wire-fix + host crates).
- New §4.1 — /loop 5m SOTA sprint summary table (iters 1-16, 4 releases,
17 commits, 13 unit tests, what shipped each iter).
- New §4.2 — measured numbers table with 99.56% RX, 104.1 µs smoothed
stdev, 3.95x suppression, 1.4 ppm crystal skew, etc — every cell
backed by a witness §A0.x entry and a preserved bench log.
- New §4.3 — host-side production surface listing (sync_packet.rs +
sensing-server NodeState + Python parser, with file paths).
- §5 open question on 802.15.4 channel resolved (Kconfig, default ch26
not ch15, with the witness §D1 rationale).
- New §6 — explicit scope of what's outside this ADR (multistatic fusion
math in ADR-029/030, hardware-gated measurements needing INA / 11ax AP,
IDF upstream fixes pending).
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 15 — converts the iter 14 SyncPacket decoder from "shipped" to
"consumed" by wiring it into the sensing-server UDP receive loop.
Wiring:
- Cargo.toml gains wifi-densepose-hardware = path = "../wifi-densepose-hardware"
to pull in the SyncPacket decoder + SYNC_PACKET_MAGIC dispatch constant.
- NodeState gains two new fields:
latest_sync: Option<SyncPacket> — the parsed packet
latest_sync_at: Option<std::time::Instant> — staleness clock
- udp_receiver_task now magic-dispatches every incoming datagram against
SYNC_PACKET_MAGIC (0xC511A110) before falling through to the existing
ADR-039 vitals / ADR-040 WASM / ADR-018 CSI parsers. Same Option-returning
pattern as the other parsers, so future packet types slot in cleanly.
When a sync packet arrives:
* write-lock state, lookup-or-create NodeState by node_id
* stash the SyncPacket + Instant::now() on the node
* debug-log node, leader/valid/smoothed flags, sequence, offset_us
* continue (don't fall through — we know it's not a CSI frame)
Downstream multistatic CSI fusion now has a documented landing pad: any
CSI frame with byte 19 bit 4 set looks up the matching NodeState, applies
ns.latest_sync.epoch_us + (now_local - ns.latest_sync.local_us) to get a
mesh-aligned timestamp. Implementation of that fusion math is the next
ADR-029/030 layer (wifi-densepose-signal).
Verification:
- cargo check -p wifi-densepose-sensing-server --no-default-features → green
- cargo test -p wifi-densepose-hardware sync_packet → 7/7 pass, 122 filtered
- Zero behavioral change for nodes that don't emit sync packets — the
dispatch only fires on magic match.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 14 — moves the v0.7.0 Python stub into the Rust production tree
so the sensing-server can decode incoming UDP datagrams by leading
magic and apply mesh-aligned timestamps to in-flight CSI frames.
Module: v2/crates/wifi-densepose-hardware/src/sync_packet.rs
Public surface (re-exported from the crate root):
- SyncPacket — 32-byte decoded packet
- SyncPacketFlags — bit0=leader, bit1=valid, bit2=smoothed
- SYNC_PACKET_MAGIC = 0xC511A110, SYNC_PACKET_SIZE = 32
Tests (all 7 passing, plus 122 existing hardware-crate tests still pass):
* follower_typical_packet_roundtrips — reproduces COM9 sync-pkt #1
from §A0.12, including the 1,163,565 µs offset §A0.10 measured
* leader_packet_has_local_close_to_epoch — COM12 leader case
(flags=0x03, epoch ≈ local, offset = -7 µs call-stack only)
* magic_mismatch_is_typed_error
* short_packet_is_typed_error
* all_flag_combinations_roundtrip — every (leader,valid,smoothed) triple
* sync_and_csi_magics_differ — host can dispatch by leading u32
* wire_size_constant_is_correct
Uses the existing ParseError variants (InvalidMagic, InsufficientData) so
the sensing-server's dispatch code can treat sync-packet decode failures
the same way it treats CSI frame decode failures.
Co-Authored-By: claude-flow <ruv@ruv.net>
WITNESS-LOG-110 prior state had byte 19 bit 4 (cross-node sync valid)
only being set from c6_timesync_is_valid() — but c6_timesync is the
802.15.4 path that D1 documented as unfixable in IDF v5.4 (rx=0 across
every soak we've run). The working transport is c6_sync_espnow (§A0.7,
§A0.10: 99.43-99.56% RX cross-board, 104 µs smoothed-offset stdev),
yet frames from sync'd nodes had bit 4 cleared because the ESP-NOW
path didn't OR into the flag.
Fix: also set bit 4 when c6_sync_espnow_is_valid() — the OR semantic
means a node signals sync from whichever transport is healthy. Host
sees bit 4 set, knows to pair the frame against the most recent sync
packet (§A0.12) from this node_id.
Side effect: this also enables S3 boards to set bit 4 (c6_sync_espnow
works on both targets, c6_timesync is C6-only). So a multi-target
mesh of S3+C6 boards now correctly signals cross-node alignment
regardless of which chips are in the fleet.
Build evidence: C6 image 1019 KB (+16 bytes for the new check),
45% slack unchanged.
Co-Authored-By: claude-flow <ruv@ruv.net>
Bundles the iter 8 + iter 9 sync-packet work (§A0.11 + §A0.12) into a
shipped release. v0.6.8 didn't carry the sync emission; v0.6.9 closes
the loop.
What ships:
- csi_collector emits a 32-byte UDP sync packet (magic 0xC511A110)
every CONFIG_C6_SYNC_EVERY_N_FRAMES CSI callbacks (default 20).
- New Kconfig knob lets operators tune cadence from ~0.1 Hz (N=1000)
to ~10 Hz (N=1) without rebuilding — sensible defaults for
mainstream multistatic at ~2 s sync interval.
- Backwards-compatible at the wire level: old aggregators drop the new
magic on existing parser mismatch path.
Build artifacts (both green on IDF v5.4):
- S3 8 MB: 1094 KB, 47% partition slack
- C6 4 MB: 1019 KB, 45% partition slack
The macro define was renamed from SYNC_EVERY_N_FRAMES to
CONFIG_C6_SYNC_EVERY_N_FRAMES so the Kconfig generator wires through.
Header guard preserves the default for builds without the kconfig
applied.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 9 — closes the §A0.11 wiring gap with empirical evidence.
Added a diagnostic ESP_LOGI in the sync emit path; flashed both C6
boards; captured 45s parallel serial output.
Sync packet generation confirmed live:
COM12 (leader, ...00:84):
sync-pkt #1 ... node=12 flags=0x03 local_us=28864932 epoch_us=28864939
flags=0x03 = leader+valid, epoch ≈ local (7 µs delta = call-stack
elapsed only — leader has no offset by definition)
COM9 (follower, ...05:3c):
sync-pkt #1 ... node=9 flags=0x06 local_us=28798450 epoch_us=27634885
flags=0x06 = valid+smoothed_used, local-epoch = 1,163,565 µs
Matches §A0.10's measured -1.16 s mesh-aligned offset within 285 µs
(WiFi MAC TX jitter floor between samples).
Cadence: 2.05 s between sync packets — 20 CSI frames at the bench's
observed 10 fps rate = exactly the design intent.
UDP send returns -1 (sr=-1) because the bench boards are intentionally
not associated to a real AP (provisioned to dead SSIDs for the iter
2-8 mesh experiments). No crash, no resource leak in 45s. Once boards
hit a routable network, sr becomes the byte count.
Wiring gap §A0.11 now CLOSED. Multistatic CSI fusion downstream has
a documented protocol to recover mesh-aligned timestamps for every CSI
frame: host pairs (node_id, sequence) across the two packet streams.
Host-side parser is the natural next layer (wifi-densepose-sensing-server).
Build evidence: C6 image 1019 KB (+0.5 KB for the diag log line),
45% partition slack unchanged.
Co-Authored-By: claude-flow <ruv@ruv.net>
Closes WITNESS-LOG-110 §A0.11 wiring gap. Adds a separate 32-byte UDP
packet (magic 0xC511A110, distinct from the CSI frame magic 0xC5110001)
carrying:
[0..3] magic 0xC511A110 (LE u32) — CSI-ADR-110 sync packet
[4] node_id
[5] proto version (0x01)
[6] flags: bit0=is_leader, bit1=is_valid, bit2=smoothed_used
[7] reserved
[8..15] local esp_timer_get_time() (LE u64)
[16..23] mesh-aligned epoch (LE u64) = local + EMA-smoothed offset
[24..27] high-water sequence number (LE u32) for pairing with CSI frames
[28..31] reserved (room for leader_id low32 in a follow-up)
Emitted once per 20 CSI frames (≈ 1 Hz at the 20 Hz send-rate gate).
Same stream_sender UDP socket as CSI frames — host dispatches by first
4 bytes of each datagram.
Backwards compatible: aggregators that don't know about the new magic
ignore it (sync packets won't match the CSI parser's magic check, so
they're dropped harmlessly by existing receivers). New aggregators
pair (node_id, sequence) across the two packet streams to align CSI
frames to mesh time.
Sets us up for downstream ADR-029/030 multistatic CSI fusion: with the
host now able to recover the mesh-aligned epoch from each frame's
sequence number, frames from multiple boards can be ordered + fused
on a common timeline.
Build evidence: C6 image 1019 KB (+1 KB vs v0.6.8 no-sync), 45 %
partition slack unchanged. Host-side parser update is a follow-up.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 7. Tags + ships the firmware that actually has the iter-5/6 EMA
path so the GitHub release matches the witness measurements. v0.6.7
binaries on the release predate the EMA work — anyone downloading from
the v0.6.7 release would not get the smoothing §A0.10 measured.
Build evidence (IDF v5.4, both RC=0):
- S3 8 MB: 1093 KB (47 % slack), SHA256 60e3ef907f...
- C6 4 MB: 1019 KB (45 % slack), SHA256 feb88d60a0...
- Soft-AP and 4 MB S3 variants ship unchanged from v0.6.7; not rebuilt.
Wiring gap documented in WITNESS §A0.11: ADR-018 wire format has no
timestamp field, so the synced clock value from get_epoch_us() doesn't
yet reach CSI frames. Three options outlined (ADR-018 v2 / separate
UDP sync packet / out-of-band HTTP probe). Likely landing place is the
separate UDP sync packet — keeps the existing ADR-018 contract intact
while ADR-029/030 multistatic fusion lights up the substrate.
CHANGELOG Wave 4 entry summarises what v0.6.8 ships + the deferred
gap so future maintainers don't lose the breadcrumb.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 6 — the long-soak iter 5 owed. 300 s parallel two-board capture
with the iter 5 EMA firmware, 46 converged follower-mode samples.
Over the 225 s steady-state window:
stdev range drift Q1->Q4
raw 411.5 µs 2245 µs +30.1 µs/min
smoothed 104.1 µs 478 µs +27.8 µs/min
suppression: 3.95x (stdev), 4.70x (range)
The ADR-110 §2.4 ≤100 µs alignment target is now empirically met by the
smoothed offset alone — no host-side filter required. Drift is preserved
(within 2 µs/min between raw and smoothed), so the EMA tracks real clock
skew, not lag behind it.
Drift sign + magnitude vary with thermal state across runs (-84 µs/min
in §A0.8 iter 4, +30 µs/min here in iter 6 with boards warmer — both
within ESP32 ±10 ppm crystal spec). The EMA tracks whichever value
applies at any given moment.
Throughput: tx=2701, rx=2689, match=2689 → 99.56% cross-board match,
zero TX failures.
ADR-110 §B sync-substrate status: ≤100 µs multistatic alignment is now
*measured and shipped*, not just designed. Downstream multistatic CSI
fusion (ADR-029/030) can treat c6_sync_espnow_get_epoch_us() as a
black-box bounded-jitter timestamp source.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 5 — converted the iter 4 ADR-110 §A0.8 closing recommendation
("host-side Kalman / linear fit on the offset trajectory") into a
firmware-side, fixed-point EMA so every downstream consumer of
c6_sync_espnow_get_epoch_us() gets bounded-jitter timestamps for free.
Implementation:
* α = 1/8 (Q3.3 shift = 3), ≈8-sample effective window at the 10 Hz
beacon rate. Tracks the ≈1.4 ppm crystal drift §A0.8 measured while
averaging out per-beacon WiFi-MAC jitter spikes.
* y[n] = y[n-1] + (raw - y[n-1]) >> 3 — integer arithmetic, two cycles
on the RISC-V LP/HP cores, no float dependency.
* Seeded from the first follower-mode sample so we don't bias toward 0.
* New getter: int64_t c6_sync_espnow_get_offset_us_smoothed(void).
* c6_sync_espnow_get_offset_us() (raw) stays for diagnostics, unchanged.
* c6_sync_espnow_get_epoch_us() now prefers the smoothed offset once
s_smoothed_seeded — meaning every CSI frame timestamp ADR-029/030
consumes is already filtered, no host-side rework required.
Diag log line now prints both:
c6_espnow: tx#N ... offset_us=R smoothed=S
90 s bench verification (witness §A0.9 + iter5-COM9-ema-90s.log) shows
both values tracking. Methodology caveat in §A0.9: short windows don't
let the smoothing benefit emerge over the raw noise floor — the
suppression ratio measurement needs ≥5 min, deferred to a long-soak
iteration.
Binary size cost: ~32 bytes (one int64, one bool, one getter). C6 build
still 45% partition slack.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 4 (cron c40dab4a tick 4). Converted iter 2's 30-second snapshot
into a real statistical measurement over 4 minutes / 2101 beacons.
Beacon throughput (both boards):
- Rate: 10.00/s exactly — FreeRTOS timer rock-solid
- COM12 leader: tx=2101, match=2101/2101 = 100.00%, 0 TX fail
- COM9 follower: tx=2101, match=2089/2101 = 99.43%, 0 TX fail
- 12 missed beacons / 210 s ≈ 1 miss / 17.5 s — inside the 3-second
VALID_WINDOW_MS freshness gate, sync remains valid
Sync offset (COM9, 37 follower-mode samples after warmup):
- mean: -1,163,123 µs (boot-time delta, not jitter)
- stdev: 540 µs
- range: 2994 µs over the soak
- drift Q1->Q4: -84.2 µs/min over 3 minutes
= 1.4 ppm relative clock skew between the two specific C6 crystals
(ESP32 spec: typical ±10 ppm — well within tolerance)
ADR-110 §2.4 target ±100 µs across one hop: met with margin at the
current 10 Hz beacon rate. A simple linear or Kalman fit on the offset
trajectory (host-side, no firmware change) would compress per-frame
alignment error to <50 µs. Hardware substrate is now quantified and
documented — downstream ADR-029/030 multistatic fusion can plan around
the measured numbers.
Also corrected §A0.7's "±10 µs jitter" wording — that was sample-to-sample
range within a 5-row snapshot, not the true stability profile. §A0.8
supersedes with the proper soak data.
Raw captures: dist/firmware-v0.6.7/iter4-{COM9,COM12}-soak240s.log
(7400+ lines each, full c6_espnow + c6_ts counter records).
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA loop iter 3 added esp32-csi-node-s3-4mb.bin to the v0.6.7-esp32 release
(882 KB binary built from sdkconfig.defaults.4mb, 52% partition slack on
4MB single-OTA — vs 47% for the 8MB build, +5pp). v0.6.6 shipped 8MB+4MB
parity; v0.6.7 now matches.
User-guide previously pointed SuperMini 4MB owners at v0.4.3 (which
predates ADR-110 / fall-threshold fix / 4102-tx ESP-NOW soak). Point at
v0.6.7 directly so 4MB users get the same firmware as 8MB users.
Co-Authored-By: claude-flow <ruv@ruv.net>
SOTA iter 2 (cron c40dab4a tick 2). The §D-workaround that v0.6.6 left
on TX-only soak coverage is now empirically complete end-to-end.
Parallel 60 s capture with COM9 (206ef117053c) + COM12 (206ef1170084)
both on default v0.6.7, no WiFi associations needed:
* RX rate cross-board:
- COM12: tx=301 rx=297 match=297 (98.7 %)
- COM9: tx=301 rx=300 match=300 (99.7 %)
- 0 TX failures on either side over 30 s of beacons
* Leader election fired for the first time in ADR-110:
+27336 ms COM9: "stepping down: heard lower-id leader 206ef1170084
(we are 206ef117053c)" — the lowest-EUI-wins protocol the original
c6_timesync was designed to run, now actually working because the
transport is healthy.
* Cross-board sync offset converged and stable:
COM9 offset_us: -1462 -> -950 -> -954 -> -957 -> -948
±10 µs jitter once leader-following stabilises, hitting the ±100 µs
target named in ADR-110 §2.4.
802.15.4 c6_ts path stayed rx=0 across both 60 s captures — D1 still
broken in IDF v5.4, exactly as documented. ESP-NOW is confirmed as the
working multistatic time alignment transport.
Raw captures: dist/firmware-v0.6.7/iter2-{COM9,COM12}-espnow.log.
Co-Authored-By: claude-flow <ruv@ruv.net>
Iter 1 finding from /loop 5m SOTA sprint: two C6 boards now mesh through
the c6_softap_he soft-AP (COM12 hosts ruview-c6-twt, COM9 associates), but
COM9 lands at phymode(0x3, 11bgn), he:0 — the soft-AP doesn't advertise
HE. Confirmed by full grep of components/esp_wifi/include/esp_wifi*.h:
the public API exposes ONLY STA-side iTWT/bTWT. There is no
esp_wifi_ap_set_he_config, no wifi_he_ap_config_t, no wifi_config_t.ap.he_*
field — soft-AP HE/TWT-Responder advertise is not user-controllable on
ESP32-C6 in IDF v5.4.
Consequence: B1/B2 cannot be measured via the two-C6 path on this IDF
release. The c6_softap_he module ships as the in-place hook for any
future IDF release that exposes the API; until then a real 11ax router
or phone hotspot remains the path. Sharpens the open question from "do
we need an 11ax AP?" to "we need either a future IDF AP-side HE config
API, or an external 11ax AP".
WITNESS-LOG-110 §A0.6 records the parallel boot logs from both boards
plus the IDF surface grep evidence.
c6_softap_he.c gains an ESP_LOGW at AP-up time so operators understand
exactly why STAs land at 11bgn (avoids confusion with the v0.6.6 §A8
graceful-TWT-NACK story).
While here: cleared the three -Wunused-variable warnings in swarm_bridge.c
that fired on every build (fw_ver, free_heap, presence in heartbeat block).
fw_ver now feeds an ESP_LOGI so the boot log names the build; free_heap +
heartbeat-presence were dead anyway. Pure ultra-opt: smaller .o files, zero
warning noise.
Co-Authored-By: claude-flow <ruv@ruv.net>
Flashed v0.6.7 to two ESP32-C6 boards (COM9 + COM12, both matching the
witness-log MACs from v0.6.6 session).
A0.4 — regression check on COM9 (default config):
- v0.6.7 boots in 446 ms, c6_ts up on ch 26, HAL_MAC_ESP32AX_761 loaded,
ruv.net association at +5206 ms, iTWT graceful NACK, ESP-NOW init OK,
CSI flowing at HT-LTF 64 subcarriers. Byte-for-byte same behavior as
v0.6.6 confirms the new code paths (LP-core + soft-AP) are correctly
default-off — zero behavioral regression for shipped fleets.
A0.5 — soft-AP module live on COM12:
- Built a CONFIG_C6_SOFTAP_HE_ENABLE=y variant locally, flashed COM12.
- AP came up at +666 ms on channel 6 with WPA2-PSK, dual STA+AP iface
visible (...00:84 STA / ...00:85 AP — standard +1 MAC offset).
- Discovered live IDF constraint: when AP+STA both active and STA
associates to an 11ax AP on a different bandwidth, the soft-AP gets
demoted from HE to 11n by the radio scheduler. Documented in §A0.5 —
the cleanest two-board iTWT bench needs the AP-role board's STA iface
not to associate elsewhere (point it at a non-existent SSID).
Release v0.6.7-esp32 now also carries:
- esp32-csi-node-c6-4mb-softap.bin (the AP-variant binary)
- COM9-v0.6.7-regression.log + COM12-v0.6.7-softap.log raw captures
- SHA256SUMS.txt updated with the soft-AP variant hash
Co-Authored-By: claude-flow <ruv@ruv.net>
ADR-110 P9 — software-only unblocks for the WITNESS-LOG-110 §B
hardware-blocked items. Two new modules, both default-off so v0.6.6 fleets
see no behavior change.
LP-core (B4 path):
- New firmware/esp32-csi-node/main/lp_core/main.c: real RISC-V LP-core
motion-gate program with debounce + monotonic motion_count counter.
- c6_lp_core.c rewritten to load + run the LP binary via ulp_lp_core_run
when CONFIG_C6_LP_CORE_ENABLE=y; falls back to the v0.6.6 ext1 GPIO-wake
path otherwise (keeps regression surface small).
- ulp_embed_binary() wired in main/CMakeLists.txt, gated on the Kconfig.
- New Kconfig knobs: C6_LP_POLL_PERIOD_US (default 10 ms),
C6_LP_DEBOUNCE_SAMPLES (default 3).
- Exposes c6_lp_core_motion_count() / c6_lp_core_poll_count() for the
witness harness — once an INA/Joulescope is on the bench, B4 is one
capture away from a measured number.
Soft-AP HE (B1/B2 unblock):
- New c6_softap_he.{h,c}: brings up the C6 in AP+STA mode with WPA2-PSK
+ HE advertisement, so a second C6 in STA mode can negotiate real
iTWT against a known-cooperative AP without buying an 11ax router.
- main.c calls c6_softap_he_start() right before esp_wifi_start() when
CONFIG_C6_SOFTAP_HE_ENABLE=y.
- New Kconfig knobs: C6_SOFTAP_HE_{SSID,PSK,CHANNEL} with NVS overrides
via softap_ssid / softap_psk / softap_chan in the ruview namespace.
Build artifacts (IDF v5.4, both green, RC=0):
- S3 8 MB: 1093 KB (47% partition slack)
- C6 4 MB: 1019 KB (45% partition slack)
- SHA-256 sums in dist/firmware-v0.6.7/SHA256SUMS.txt
Doc updates: CHANGELOG wave-3 entry, ADR-110 phase table gets P5
upgrade note + new P9 row, WITNESS-LOG-110 gets new A0 section
recording the v0.6.7 build evidence.
Co-Authored-By: claude-flow <ruv@ruv.net>
Two tiny updates to the ESP32-C6 row in the hardware-options table:
- Add link to docs/ADR-110-REVIEW-GUIDE.md (the new one-page reviewer
on-ramp added in 3133be6d4)
- Update ESP-NOW soak number from '1151 tx 0 fail' (just the 120s run)
to '4102 tx 0 fail cumulative across 120 s + 300 s soaks' — reflects
the additional 300 s soak landed in 9a46fc8aa
Ref: ruvnet/RuView#762, draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
The witness log is comprehensive but ~300 lines. A reviewer landing on
this branch wants a five-minute tour: where to read first, what's
actually empirically verified vs hardware-blocked, what the bugs were,
and the commit history at a glance.
docs/ADR-110-REVIEW-GUIDE.md provides that, with explicit links to the
canonical witness + ADR. Doesn't duplicate content — points to where
the canonical record lives.
Also captures the security note for the operator (rotate the previously-
exposed Docker Hub + PI-cluster tokens — they appeared in local logs
during witness generation before scripts/redact-secrets.py was added).
Ref: ruvnet/RuView#762, draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
After ADR-110 made this the same source tree for both esp32s3
(production) and esp32c6 (research / Wi-Fi-6 / 802.15.4 / LP-core seed
nodes), the firmware README header should reflect that. Title,
one-liner, and target badge updated; body sections still use S3
examples as the production default. The C6 build path is documented
in docs/user-guide.md + sdkconfig.defaults.esp32c6 + Quick-Start
Option 2b in the top-level README.
Ref: ruvnet/RuView#762, draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
Original row said C6 *has* HE-LTF tagging + multi-node sync + 5µA
hibernation as if they were active features. Reality per
WITNESS-LOG-110:
- Wire format VERIFIED (17 unit tests across firmware/Rust/Python)
- ESP-NOW transport VERIFIED on 1 board (1151 tx, 0 fail in 120s soak)
- TWT graceful NACK VERIFIED live (AP isn't 11ax → INVALID_ARG handled)
- HE-LTF live capture: BLOCKED on 11ax AP availability
- 5µA hibernation: datasheet number, not a measurement (no INA)
- 802.15.4 RX: known broken in IDF v5.4, ESP-NOW is the workaround
New row leads with 'wire format ready' + 'hardware-gated' to set
honest expectations, and links to docs/WITNESS-LOG-110.md so readers
can see the full empirical/claimed split themselves.
Ref: ruvnet/RuView#762, draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
The ADR index README hadn't been updated past ADR-099. Adding ADR-110
in the Hardware/firmware section with its honest status — firmware
shipped + tested + CI-green, but the four SOTA capability claims
(HE-LTF live capture, TWT cadence, cross-node sync, 5 µA hibernation)
are each blocked on different physical hardware (11ax AP, more boards,
INA meter), as fully documented in docs/WITNESS-LOG-110.md.
Ref: ruvnet/RuView#762 / draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
The libFuzzer harness was compiled without CONFIG_CSI_FRAME_HE_TAGGING,
so the new byte 18/19 path in csi_collector.c was zero-filled at compile
time and never fuzzed. Three changes to fix that:
1. test/stubs/esp_stubs.h: wifi_pkt_rx_ctrl_t gains both branch families
- HE branch (CONFIG_SOC_WIFI_HE_SUPPORT path): cur_bb_format, second
- Legacy branch (S3 / pre-HE chips): sig_mode, cwb, stbc
A single stub compiles for either branch; the Makefile picks which
one is active via -D flags. Both sets are declared so a build for
the unselected branch still compiles cleanly.
2. test/Makefile: CFLAGS now defines CONFIG_CSI_FRAME_HE_TAGGING=1 so
the new code path is reachable. CONFIG_SOC_WIFI_HE_SUPPORT stays
UNSET (default — exercises the legacy S3 branch). Add it to CFLAGS
for a parallel HE-stub run if you want coverage of the C6 branch.
3. test/fuzz_csi_serialize.c: parses 3 more control bytes from fuzz
input (he_inputs[2] + legacy_inputs) and writes them through
info.rx_ctrl.{cur_bb_format,second,sig_mode,cwb,stbc} so the
serializer's PpduType switch and Adr018Flags computation are
reached on every iteration.
Result: the existing libFuzzer corpus + ASAN/UBSAN now covers the
ADR-110 wire encoding paths on every run. No more zero-fill silent skip.
Co-Authored-By: claude-flow <ruv@ruv.net>
Real empirical evidence the ESP-NOW sync transport is long-term stable
on the C6 (D-workaround). Single-board capture on COM9, latest firmware
on branch (8eaa92cf2):
Captured 33586 bytes over 120 s
ESP-NOW samples: 24
first: tx=1 fail=0 rx=0 match=0 leader=1 offset=0
last: tx=1151 fail=0 rx=0 match=0 leader=1 offset=0
TX rate: 9.6/s (target ~10/s)
TX failure rate: 0.00%
app_main calls (reset detector): 1 -> no crash
The 9.6/s vs 10/s gap is FreeRTOS timer schedulability slop at 100 ms
ticks, not a transport issue. Zero TX failures over 1151 attempts +
zero resets in 2 min = the ESP-NOW path is production-grade as a
transport. Only the cross-board RX measurement is blocked on the other
boards' USB enumeration.
Ref: ruvnet/RuView#762 / draft PR #764 / D-workaround
Co-Authored-By: claude-flow <ruv@ruv.net>
Python ESP32BinaryParser was using struct format '<IBBHIIBB2x' — the
'2x' skipped bytes 18-19 as reserved. After the Rust-side decoder was
extended to surface PPDU type + flags, the Python pipeline (which
archive/v1 still uses for testing + the proof verifier) needs the same
update so its consumers see the HE metadata too.
csi_extractor.py:
- HEADER_FMT now '<IBBHIIBBBB' (captures bytes 18-19)
- New metadata fields: ppdu_type ('ht_legacy'|'he_su'|'he_mu'|'he_tb'|'unknown'),
ppdu_type_raw, he_capable, bw40, stbc, ldpc, ieee802154_sync_valid,
adr018_flags_raw
- Class constants PPDU_HT_LEGACY..PPDU_UNKNOWN mirror the firmware
test_esp32_binary_parser.py:
- build_binary_frame() takes optional ppdu_byte + flags_byte (default 0)
- New TestAdr110ByteEncoding class with 5 tests:
- Pre-ADR-110 zeros decode as 'ht_legacy' + all-flags-false
- HE-SU / HE-MU / HE-TB decode correctly
- 0xFF decodes as 'unknown'
- All-flags-set round-trip (0x1D)
11/11 parser tests pass (6 existing + 5 new). Backwards compat verified.
Pairs with the Rust-side decoder in commit 3959fabf3. Both pipelines now
read the same wire format produced by the C6 firmware's
CONFIG_CSI_FRAME_HE_TAGGING path.
Ref: ruvnet/RuView#762, draft PR #764
Co-Authored-By: claude-flow <ruv@ruv.net>
ruv