Phase 6 of #513: C-side wiring for the on-device temporal head. Builds
cleanly with feature OFF (default); 8MB binary delta is +96 bytes vs
v0.6.4-esp32 — that's the no-op shim path. Feature ON depends on the
Rust component (Phase 5, currently blocked by upstream esp-rs nightly).
Files:
- main/temporal_task.{c,h} — owns the FreeRTOS task lifecycle. Per
ADR-095 §3.3 the task has its own 16 KB stack pinned to Core 1 and
is fed via a 32-deep FreeRTOS queue. With feature OFF the .c file
collapses to three ESP_ERR_NOT_SUPPORTED stubs so callers don't
need #ifdefs at every call site.
- main/temporal_task.h — defines rv_temporal_pkt_t (40 bytes,
magic 0xC5110007 — next free in the existing 0xC5110001..0006
family) and the task lifecycle API. Build-time _Static_assert
pins the wire format.
- main/Kconfig.projbuild — new menu "On-device temporal head
(ADR-095, #513)" with CONFIG_CSI_TEMPORAL_HEAD_ENABLED (default n)
plus four runtime-tuneable knobs: TEMPORAL_INPUT_DIM (16),
TEMPORAL_WINDOW_LEN (256), TEMPORAL_N_CLASSES (4), and
TEMPORAL_CLASSIFY_PERIOD_MS (1000).
- main/CMakeLists.txt — adds temporal_task.c to SRCS unconditionally
(the .c file feature-gates internally), and adds ruv_temporal to
REQUIRES only when the feature is enabled so default builds don't
pull in the Rust component.
- main/adaptive_controller.c — fast_loop_cb now extracts the 9
feature floats from the pkt it just built and pushes them into
temporal_task_push_frame after the existing stream_sender_send.
Non-blocking; queue-full drops are coalesced and logged 1/sec.
- main/main.c — temporal_task_start() called right after
adaptive_controller_init(). Wrapped in #ifdef so feature-off
builds don't reference the (no-op-anyway) function.
- components/ruv_temporal/CMakeLists.txt — restructured. Top-level
Kconfig guard registers an empty component when the feature is
off (avoids running cargo without a working toolchain).
add_custom_command moved AFTER idf_component_register so it
doesn't fire in script mode (required by ESP-IDF v5.4).
Validation:
- Firmware builds clean with default config (feature OFF) on
ESP-IDF v5.4 / esp32s3 target. Binary 1062 KiB / 2 MiB partition,
48 % free.
- Static assertion catches wire-format drift (rv_temporal_pkt_t size).
- Host-side `cargo test -p wifi-densepose-temporal` still 5/5 from
the earlier commit (no regression, this commit only touches
firmware/).
Phase 7 (flash to COM8 + soak) deferred this iteration — board is
currently not enumerating on COM8; will pick up next iteration when
the ESP32 is reattached.
Co-Authored-By: claude-flow <ruv@ruv.net>
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