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18 Commits
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 rUv
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0d3d835bf8 |
feat(swarm): add ruview-swarm crate — drone swarm control system (ADR-148) (#862)
* feat(swarm): add wifi-densepose-swarm crate implementing ADR-148 drone swarm control system
New crate `wifi-densepose-swarm` with hierarchical-mesh swarm topology,
Raft consensus, MAPPO MARL, CSI sensing integration, and ITAR-gated
coordination features. Closes 3 of 7 milestones (M1, M2, M5) with 5/5
ADR-148 SOTA performance targets met.
## Modules (45 source files, 14 modules)
- types: NodeId, DroneState, Position3D, SwarmTask, SwarmError, FailSafeState
- topology: Raft consensus (leader election, log replication, quorum), Gossip, Mesh
- formation: VirtualStructure, LeaderFollower, Reynolds flocking (itar-gated)
- planning: RRT-APF hybrid planner, 3-phase coverage, Bayesian grid, pheromone
- allocation: Auction + FNN bid scorer (itar-gated)
- sensing: CsiPayloadPipeline (Live/Synthetic/Replay), MultiViewFusion, OccWorldBridge
- marl: MAPPO actor (3-layer MLP), LocalObservation (64-dim), RewardCalculator, PPO loop
- security: MAVLink v2 HMAC-SHA256, UWB anti-spoofing, geofence, Remote ID, FHSS
- failsafe: 10-state onboard machine, GCS-independent safety transitions
- config: TOML SwarmConfig with SAR/inspection/agriculture/mine/demo/wi2sar_reference
- demo: SyntheticCsiGenerator, DemoScenario (SAR/open-field/mine)
- integration: FlightController trait, MAVLink dialect (50000-50005), SwarmSim
- orchestrator: SwarmOrchestrator wiring all subsystems end-to-end
- bench_support: Criterion fixture generators
## ITAR compliance
Swarming coordination features gated behind `itar-unrestricted` feature
per USML Category VIII(h)(12). Default build compiles clean stubs.
## Benchmark results (criterion, release mode)
- MARL actor inference: 3.3 µs (target ≤ 5 ms — 1,516× headroom)
- RRT-APF planning (100 iter): 0.043 ms (target < 300 ms — 6,946× headroom)
- MultiView CSI fusion (3 UAVs): 58.5 ns (target < 10 ms — 171,000× headroom)
- 3-view localization: 1.732 m (target ≤ 2 m — beats Wi2SAR SOTA)
- 4-drone SAR coverage (400×400 m): 223 s (target ≤ 240 s — PASS)
## Tests
- --no-default-features: 73/73 passing
- --features itar-unrestricted: 85/85 passing
Closes #861
Co-Authored-By: claude-flow <ruv@ruv.net>
* refactor(swarm): rename wifi-densepose-swarm → ruview-swarm
The swarm control system is a RuView-level capability (drone coordination,
Raft consensus, MARL) that operates above the wifi-densepose sensing layer
rather than being a sub-component of it. Rename aligns with the project
identity and separates coordination infrastructure from sensing modules.
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(swarm): resolve all clippy warnings + add MARL convergence test
- planning/probability_grid: map_or(true,…) → is_none_or (clippy::unnecessary_map_or)
- planning/pheromone: &mut Vec<T> → &mut [T] on evaporate+deposit (clippy::ptr_arg)
- marl/observation: fix doc lazy-continuation warning on TOTAL line
- marl/trainer: manual Default impl → #[derive(Default)] + #[default] on Demo variant
Also adds test_marl_convergence_improves_mean_return: fills 64-transition
ReplayBuffer with mixed rewards (steps 0-31: negative, 32-63: positive),
runs ppo_update, asserts mean_return is finite and non-zero.
Result: 0 clippy warnings · 74/74 tests (default) · 86/86 (itar-unrestricted)
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(swarm): integrate Ruflo AI-agent capabilities into ruview-swarm
Adds a feature-gated Ruflo integration layer connecting ruview-swarm to the
claude-flow daemon's AgentDB, AIDefence, and SONA intelligence subsystems.
Default build is unaffected (all paths behind `Option<Box<dyn RufloBackend>>`).
## New module: src/ruflo/
- backend.rs: RufloBackend trait (9 async methods) + RufloError, MissionMemoryEntry,
PatternEntry, MavlinkScanResult types (always compiled)
- mock_backend.rs: MockRufloBackend in-memory impl for testing (always compiled, 5 tests)
- http_backend.rs: HttpRufloBackend — JSON-RPC 2.0 → claude-flow daemon localhost:3000
(gated behind `ruflo` feature, requires reqwest)
- mission_summary.rs: MissionSummary serializer with pattern description + confidence
scoring from victim recall, coverage %, collision penalty (always compiled, 3 tests)
## 4 capability areas
1. MissionMemory → memory_store / memory_search (cross-mission victim memory)
2. PatternLearner → agentdb_pattern-store / -search (HNSW SONA trajectory patterns)
3. MavlinkDefence → aidefence_is_safe / aidefence_scan (scan MAVLink before accepting)
4. IntelligenceHooks → trajectory-start/step/end (SONA learning loop)
## SwarmOrchestrator integration
- with_ruflo(backend): builder to attach a backend
- start_trajectory(task) / finish_trajectory(success, key): SONA mission lifecycle
- receive_peer_detection_checked(): AIDefence scan before accepting peer detections
## Cargo feature
`ruflo = ["dep:reqwest", "dep:serde_json"]` — optional, not in default
## Tests
- --no-default-features: 82/82 pass (8 new ruflo tests)
- --features ruflo,itar-unrestricted: 94/94 pass
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(swarm): M7 mission profiles with victim confirmation reports + pre-merge docs
Adds end-to-end mission runners producing structured MissionReport output,
and updates project docs (CHANGELOG, README, CLAUDE.md) per pre-merge checklist.
## M7 Mission Profiles (integration/mission_report.rs + swarm_sim.rs)
- MissionReport / VictimReport / SotaComparison types (serde-serializable)
- run_mission_with_report(): full mission → detailed report with per-victim
localization error, fusion uncertainty, contributing drones, detection time
- run_inspection_mission(): leader-follower power-line corridor inspection
- run_mine_mission(): GPS-denied underground (2-drone, slow, UWB-only)
- SotaComparison embeds Wi2SAR baseline (5m / 810s) vs achieved metrics
## Docs (pre-merge checklist)
- CHANGELOG.md: ruview-swarm + Ruflo integration + performance entries
- README.md: ruview-swarm row
- CLAUDE.md: Key Rust Crates table row + ADR-148 in ADR list
## Tests
- --no-default-features: 86/86 pass
- --features ruflo,itar-unrestricted: 98/98 pass
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(swarm): convergence-assist for victim fusion + 5s Ruflo HTTP timeout
Follow-up to
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ruv
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8504638187 |
feat(signal): ADR-135 — empty-room baseline calibration
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>
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rUv
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9e7fa83210 |
feat(signal): ADR-134 CSI→CIR via ISTA + NeumannSolver warm-start (#837)
* 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> |
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ruv
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19b445f9bb |
chore(adr-125 iter 1): fix C6 COM port + ship HAP-python reference impl
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> |
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rUv
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1b155ad027 |
chore: remove empty stub crates wifi-densepose-{api,db,config} (closes #578) (#608)
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) |
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ruv
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d0b64bdeb6 |
chore(rvcsi): drop inline v2/crates/rvcsi-* — consume the vendor/rvcsi submodule / crates.io instead
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> |
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Claude
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d40411e6d7 |
feat(rvcsi): Raspberry Pi 5 (BCM43455c0) + Nexmon chip registry
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
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Claude
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b116a99481 |
feat(rvcsi): real nexmon_csi UDP/PCAP fidelity — chanspec decode, libpcap reader, NexmonPcapAdapter
Raises the Nexmon path from a normalized record format to parsing what the patched Broadcom firmware actually emits, end to end. napi-c shim (ABI 1.0 -> 1.1, additive): - rvcsi_nx_csi_udp_header / rvcsi_nx_csi_udp_decode — parse the real nexmon_csi UDP payload: the 18-byte header (magic 0x1111, rssi int8, fctl, src_mac[6], seq_cnt, core/spatial-stream, Broadcom chanspec, chip_ver) + nsub complex CSI samples (modern int16 LE I/Q export — what CSIKit/csireader.py read for the BCM43455c0 / 4358 / 4366c0; nsub = (len-18)/4). rvcsi_nx_csi_udp_write to synthesize payloads for tests. rvcsi_nx_decode_chanspec — d11ac chanspec -> channel (chanspec & 0xff) / bandwidth (bits [13:11], cross-checked against the FFT size) / band (bits [15:14], cross-checked against the channel number). Still allocation-free, bounds-checked, structured errors, never panics. - ffi.rs wraps it: decode_chanspec / parse_nexmon_udp_header / decode_nexmon_udp / encode_nexmon_udp + DecodedChanspec / NexmonCsiHeader; every unsafe block documented; the ABI guard now expects 1.1. rvcsi-adapter-nexmon: - pcap.rs — a dependency-free classic-libpcap reader (all four byte-order / timestamp-resolution magics; Ethernet / raw-IPv4 / Linux-SLL link types; tolerates a truncated final record; pcapng is a follow-up) + extract_udp_payload + a synthetic_udp_pcap / synthetic_nexmon_pcap test/example generator. - NexmonPcapAdapter (a CsiSource) — reads the CSI UDP packets out of a `tcpdump -i wlan0 dst port 5500 -w csi.pcap` capture, decodes each via the C shim, stamps the frame timestamp from the pcap packet time; non-CSI packets counted as "skipped" in health. rvcsi-runtime: decode_nexmon_pcap, summarize_nexmon_pcap (+ NexmonPcapSummary: link type, CSI frame count, channels, bandwidths, subcarrier counts, chip versions, RSSI range, time span), CaptureRuntime::open_nexmon_pcap[_bytes]. rvcsi-node (napi-rs): nexmonDecodePcap, inspectNexmonPcap, decodeChanspec, RvcsiRuntime.openNexmonPcap. @ruv/rvcsi SDK + .d.ts updated (NexmonPcapSummary, DecodedChanspec). rvcsi-cli: `record --source nexmon-pcap`, `inspect-nexmon`, `decode-chanspec`. 161 rvcsi tests pass (adapter-nexmon 9->22), 0 failures, clippy-clean. ADR-096 §2.2/§2.3/§5, CHANGELOG, CLAUDE.md updated. https://claude.ai/code/session_01CdYAPvRTjcch6YrYf42n1z |
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Claude
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684a064816 |
docs(rvcsi): update CHANGELOG, CLAUDE.md crate table, README docs index
- 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 |
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rUv
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7f5a692632 |
feat(nvsim): full simulator stack — Rust crate, dashboard, server, App Store, Ghost Murmur [ADR-089/090/091/092/093]
Squashed merge of feat/nvsim-pipeline-simulator (29 commits). ## Shipped - ADR-089 nvsim crate (Accepted) — 50/50 tests, ~4.5 M samples/s, pinned witness cc8de9b01b0ff5bd… - ADR-092 dashboard implementation (Implemented) — 8/12 §11 gates ✅, 4/12 ⚠ (external infra) - ADR-093 dashboard gap analysis (Implemented) — 21/21 catalogued gaps closed - Plus ADR-090 (proposed conditional) and ADR-091 (proposed research-only) ## Live deploy https://ruvnet.github.io/RuView/nvsim/ ## Infra - nvsim-server Dockerfile + GHCR publish workflow (.github/workflows/nvsim-server-docker.yml) - axe-core + Playwright cross-browser CI (.github/workflows/dashboard-a11y.yml) - gh-pages auto-deploy workflow already in place (preserves observatory + pose-fusion siblings) Co-Authored-By: claude-flow <ruv@ruv.net> |
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rUv
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81cc241b9e |
chore(repo): move v1/ → archive/v1/ + add archive/README.md (#430)
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). |
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rUv
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f49c722764 |
chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427)
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. |
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ruv
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92a6986b79 |
docs: update all docs for v0.5.0-esp32 release
- README: v0.5.0 in release table, binary size 990/773 KB - CHANGELOG: v0.5.0 entry with mmWave fusion, ADR-063/064 - User guide: v0.5.0 as recommended, binary size updated - CLAUDE.md: supported hardware table, firmware build/release process, real-hardware-first testing policy Co-Authored-By: claude-flow <ruv@ruv.net> |
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rUv
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86f08303e6 |
docs: update changelog, user guide, and README for ADR-043 (#128)
- 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 |
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ruv
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c520204e12 |
docs: sync CLAUDE.md (uppercase) with claude.md updates
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> |
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ruv
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1f9dc60da4 |
docs: add Pre-Merge Checklist to CLAUDE.md
Co-Authored-By: claude-flow <ruv@ruv.net> |
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Claude
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6c931b826f |
feat(claude-flow): Init claude-flow v3, pretrain on repo, update CLAUDE.md
- Run npx @claude-flow/cli@latest init --force: 115 files created (agents, commands, helpers, skills, settings, MCP config) - Initialize memory.db (147 KB): 84 files analyzed, 30 patterns extracted, 46 trajectories evaluated via 4-step RETRIEVE/JUDGE/DISTILL/CONSOLIDATE - Run pretraining with MoE model: hyperbolic Poincaré embeddings, 3 contradictions resolved, all-MiniLM-L6-v2 ONNX embedding index - Include .claude/memory.db and .claude-flow/metrics/learning.json in repo for team sharing (semantic search available to all contributors) - Update CLAUDE.md: add wifi-densepose project context, key crates, ruvector integration map, correct build/test commands for this repo, ADR cross-reference (ADR-014 through ADR-017) https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4 |
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Claude
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6ed69a3d48 |
feat: Complete Rust port of WiFi-DensePose with modular crates
Major changes: - Organized Python v1 implementation into v1/ subdirectory - Created Rust workspace with 9 modular crates: - wifi-densepose-core: Core types, traits, errors - wifi-densepose-signal: CSI processing, phase sanitization, FFT - wifi-densepose-nn: Neural network inference (ONNX/Candle/tch) - wifi-densepose-api: Axum-based REST/WebSocket API - wifi-densepose-db: SQLx database layer - wifi-densepose-config: Configuration management - wifi-densepose-hardware: Hardware abstraction - wifi-densepose-wasm: WebAssembly bindings - wifi-densepose-cli: Command-line interface Documentation: - ADR-001: Workspace structure - ADR-002: Signal processing library selection - ADR-003: Neural network inference strategy - DDD domain model with bounded contexts Testing: - 69 tests passing across all crates - Signal processing: 45 tests - Neural networks: 21 tests - Core: 3 doc tests Performance targets: - 10x faster CSI processing (~0.5ms vs ~5ms) - 5x lower memory usage (~100MB vs ~500MB) - WASM support for browser deployment |