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| Author | SHA1 | Message | Date | |
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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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9ad550d95f |
feat(worldmodel): Candle Rust port + GCP GPU scripts (ADR-147 Phase 4+6)
Candle native port — wifi-densepose-occworld-candle v0.3.0: - config.rs: OccWorldConfig (14 params matching occworld.py) - vqvae.rs: ClassEmbedding(18→64), VQCodebook(512×512, squared-L2), QuantConv/PostQuantConv(1×1 Conv2d), fold_3d_to_2d helpers ResNet encoder/decoder are documented stubs (Phase 5 checkpoint pending) - transformer.rs: full Candle MHA transformer (2 layers, temporal+spatial cross-attention, FFN, pre-norm residuals) - inference.rs: OccWorldCandle::dummy() + ::load() + predict() InferenceOutput: sem_pred(1,15,200,200,16) + trajectory_priors - 14/14 tests pass (12 lib + 2 doctests) GCP GPU scripts — scripts/gcp/: - provision_training.sh: a2-highgpu-8g (8×A100 40GB) for Phase 5 retraining - run_training.sh: rsync + torchrun 8-GPU train + checkpoint download - provision_cosmos.sh: a2-ultragpu-1g (A100 80GB) for Cosmos evaluation - cosmos_eval.sh: run Cosmos-Transfer2.5 inference, download results - teardown.sh: safe checkpoint download + instance delete Co-Authored-By: claude-flow <ruv@ruv.net> |
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rUv
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c7ddb2d7d1 |
feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856)
* feat(worldmodel): ADR-147 — OccWorld integration, wifi-densepose-worldmodel v0.3.0 (#854) - New crate `wifi-densepose-worldmodel` v0.3.0: async Unix-socket bridge to OccWorld Python inference server; `OccWorldBridge`, `OccupancyGrid3D`, `TrajectoryPrior`, `worldgraph_to_occupancy` encoder (14/14 tests pass) - `scripts/occworld_server.py`: long-lived Python inference server for OccWorld TransVQVAE (72.4M params); applies API-bug patches; dummy mode for CI testing; graceful SIGTERM shutdown - `pose_tracker.rs`: `trajectory_prior` soft-blend injection (80/20 Kalman/prior) on torso keypoint; `set_trajectory_prior()` public method - CI: added `Run ADR-147 worldmodel tests` step - ADR-147: accepted — OccWorld primary (209 ms, 3.37 GB VRAM, RTX 5080); Cosmos deferred to ADR-148 (32.54 GB VRAM exceeds hardware) - Benchmark proof: 208.7 ms P50, 3.37 GB peak VRAM, 12.1 GB headroom Co-Authored-By: claude-flow <ruv@ruv.net> * chore: update ruvector.db state Co-Authored-By: claude-flow <ruv@ruv.net> * chore: ruvector.db sync Co-Authored-By: claude-flow <ruv@ruv.net> * fix(cli): add missing min_frames field to CalibrateArgs test helper E0063 in calibrate.rs:448 — CalibrateArgs gained min_frames in ADR-135 but the default_args() test helper was not updated. min_frames=0 means 'use tier default', matching the existing runtime behaviour. Co-Authored-By: claude-flow <ruv@ruv.net> |
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ruv
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2eada40e3b |
feat(engine): integrate ADR-135..141 into an end-to-end trust pipeline
- signal/calibration.rs: BaselineCalibration gains calibration_id()/ calibration_uuid()/apply() — the ADR-135->136 link that stamps FrameMeta.calibration_id (deterministic id, no serialization change). +1 test. - NEW crate wifi-densepose-engine: StreamingEngine::process_cycle() composes fuse_scored (137) -> calibration provenance (135/136) -> privacy demotion on contradiction (141) -> WorldGraph SemanticState with mandatory provenance + DerivedFrom edge (139). Returns TrustedOutput (the trust chain made concrete). - Validates the throughline: every output names evidence + model + calibration + privacy decision; calibration_id flows input->QualityScore->provenance; contradiction demotes class; deterministic; privacy mode attested. - 4 integration tests; workspace 0 errors; signal 410 lib tests pass. Co-Authored-By: claude-flow <ruv@ruv.net> |
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ruv
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521a012d84 |
feat(worldgraph): ADR-139 WorldGraph environmental digital twin (#843)
New crate wifi-densepose-worldgraph: - model.rs: WorldNode (10 kinds) + WorldEdge (7 relations) as serde enums (no trait objects → deterministic RVF persistence); WorldId, EnuPoint, ZoneBoundsEnu (with point-in-bounds), SemanticProvenance (house-rule tuple) - graph.rs: WorldGraph over petgraph StableDiGraph; upsert/add_edge/neighbors, room_for_area (HomeCore area_id linkage), observed_by/contents_of queries, add_semantic_state (append-with-provenance DerivedFrom), add_contradiction (both beliefs retained), apply_privacy_mode → PrivacyRollup, JSON persistence - 7 tests (upsert/replace, linkage, unknown-endpoint, location, provenance+ contradiction, privacy rollup, deterministic JSON round-trip) - workspace 0 errors Co-Authored-By: claude-flow <ruv@ruv.net> |
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rUv
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e96ebaea81 |
HOMECORE: native Rust/WASM/TS port of Home Assistant — ADRs 125-134 implementation (#800)
* feat(adr-125 iter 3): BFLD PrivacyGate + semantic-event naming at HAP boundary Inserts a Python equivalent of `wifi-densepose-bfld::PrivacyClass` + `PrivacyGate` between the rv_feature_state parser and the HAP toggle file. ADR-125 §2.1.d structural invariant I1 is now enforced at the HomeKit edge: only `Anonymous` (class 2) and `Restricted` (class 3) frames may cross. `Raw` and `Derived` cause the watcher to exit 2 with the cited ADR clause — not a silent downgrade. Class-3 (Restricted) strips `anomaly_score`, `env_shift_score`, `node_coherence` even though current feature_state doesn't carry identity-derived fields — future wire-format extensions inherit the gate behavior for free. Operator-facing semantic naming follows ADR-125 §2.1.d: the watcher logs `Unknown Presence` (not "intruder detected" / "security state"). The naming is the contract — what end users see in automation rules reads as ambient awareness, never threat detection. Empirical (with --privacy-class anonymous on live C6): pkts=58 valid=51 crc_bad=0 motion=True privacy class: Anonymous (HAP-eligible) semantic event: Unknown Presence Refuse path validated: $ ~/hap-venv/bin/python c6-presence-watcher.py --privacy-class derived REFUSED: privacy class Derived (value=1) is not HAP-eligible. ADR-125 §2.1.d structural invariant I1: only Anonymous (2) and Restricted (3) frames may cross the HomeKit boundary. $ echo $? 2 Branch: feat/adr-125-apple-fabric (kept off main while docker build for sha |
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ruv
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c965e3e6c0 |
feat(adr-118/p1): scaffold wifi-densepose-bfld crate + frame header (3/3 tests GREEN)
Land P1 of the BFLD rollout — the wire-format primitives: - New workspace member: v2/crates/wifi-densepose-bfld - PrivacyClass enum (Raw/Derived/Anonymous/Restricted) with allows_network() and allows_matter() const helpers reflecting ADR-120 §2.2 and ADR-122 §2.4 - BfldFrameHeader (#[repr(C, packed)]) per ADR-119 §2.1 - BFLD_MAGIC = 0xBF1D_0001, BFLD_VERSION = 1 - BfldError variants for InvalidMagic / UnsupportedVersion / Crc / PrivacyViolation - soul-signature cargo feature (gated, default OFF) per ADR-118 §1.4 - Compile-time size assertion via static_assertions::const_assert_eq! - 3 acceptance tests in tests/frame_header_size.rs (all pass) Bug fix: - ADR-119 AC1 claimed BfldFrameHeader is 40 bytes. Actual packed layout sums to 86 bytes. Updated AC1 and §2.1 prose to match. const_assert in frame.rs pins the value structurally — a future field addition that breaks the size fails to compile. Out of scope for this iter (deferred to later P1 commits): - Field-level missing-docs warnings (21) — addressed alongside accessor helpers - Payload section parsing — needs the section-length prefix tests - Round-trip serialize/parse — covered by a fixture-based test in the next iter cargo test -p wifi-densepose-bfld --no-default-features → 3 passed, 0 failed Co-Authored-By: claude-flow <ruv@ruv.net> |
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ruv
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56265023dc |
feat(cog-ha-matter): P2 scaffold + ADR-116 P1 research-dossier fold-in
cron iter 1. Three things landed atomically because they cross-cite:
P1 — research dossier complete
Deep-researcher agent (a4dd35950ffd) shipped
docs/research/ADR-116-ha-matter-cog-research.md: 8 sections,
30+ citations across Matter / HACS / cog arch / local-AI /
federation / competitors / regulatory / v1 scope. Key
findings folded into ADR-116 §3 and §4:
- Matter device class: OccupancySensor (0x0107) +
RFSensing feature on cluster 0x0406 (1.4 rev 5)
- ESP32-C6 Thread Border Router: one Kconfig flag away
(CONFIG_OPENTHREAD_BORDER_ROUTER=y)
- HACS quality tier: target Gold (repairs + diagnostics +
reconfiguration), start from hacs.integration_blueprint
- CSA cert: ~$30-42k/yr — skip for v1, "Works with HA"
positioning instead
- Cog RAM/CPU: 128 MB / 15% on the Seed; 10 KB INT8
semantic-primitive classifier fits without PSRAM
- SONA: <100 µs/query confirmed by ruvllm-esp32 v0.3.3
- FDA Jan 2026 wellness guidance covers HR / sleep / activity
anomaly when marketed as "anomaly notification" not "diagnosis"
- Competitor moat: Aqara FP300 / TOMMY / ESPectre all lack
HR + BR + pose + semantic + witness simultaneously
P2 — cog crate scaffold compiles
v2/crates/cog-ha-matter/ created with cog-pose-estimation as
precedent shape (ADR-101). Files:
- Cargo.toml: depends on wifi-densepose-sensing-server with
--features mqtt + wifi-densepose-hardware for the ADR-110
SyncPacket bridge.
- src/lib.rs: COG_ID = "ha-matter", MDNS_SERVICE_TYPE
"_ruview-ha._tcp", DEFAULT_CONTROL_PORT 9180.
- src/manifest.rs: typed CogManifest (8 fields) mirroring
cog-pose-estimation's manifest.template.json. Round-trip
test locks the JSON wire shape; id-constant test guards
against rename drift.
- src/main.rs: clap CLI with --sensing-url / --mqtt-host /
--mqtt-port / --privacy-mode / --print-manifest. The
--print-manifest flag emits the build-time template with
{{VERSION}} / {{ARCH}} placeholders for the signer.
- v2/Cargo.toml: cog-ha-matter added as workspace member.
Verification:
cargo check -p cog-ha-matter --no-default-features → green
cargo test -p cog-ha-matter --no-default-features --lib
→ 2/2 manifest tests pass
ADR-116 §3 + §4 + §5 (phases) updated to mark P1+P2 ✅ done and
seat the recommended v1 scope (privacy-mode audit-only → cog
signing → SONA loop → HACS gold → Matter Bridge as v0.8) ranked
by build cost × user impact per the dossier.
P3 (next iter): wrap the existing ADR-115 MQTT publisher as the
cog's main loop. The scaffold returns SUCCESS immediately today.
Co-Authored-By: claude-flow <ruv@ruv.net>
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rUv
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004a63e82d |
fix(security): audit — fix RUSTSEC vulns, clippy warnings, dead code (#769)
- Upgrade openssl to 0.10.78 (CVE-2026-41676), jsonwebtoken to 9.4 - Suppress unmaintained-only/no-CVE advisories in .cargo/audit.toml with per-entry rationale - Fix all `cargo clippy --all-targets -- -D warnings` errors across 35 crates: derivable_impls, needless_range_loop, map_or→is_some_and/ is_none_or, await_holding_lock (drop MutexGuard before .await), ptr_arg (&mut Vec→&mut [T]), useless_conversion, approximate_constant (2.718→E, 3.14→PI), field_reassign_with_default, manual_inspect, useless_vec, lines_filter_map_ok, print_literal, dead_code - Apply `cargo fmt --all` - Pre-existing test failure in wifi-densepose-signal (test_estimate_occupancy_noise_only) is not introduced by this PR |
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rUv
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6959a42312 |
feat(cog-person-count): v0.0.1 scaffold + tests + fusion math + bench (ADR-103) (#694)
First implementation PR for ADR-103. Same incremental shape that
ADR-101 used: scaffold the cog crate, ship a stub-backend release
that satisfies the runtime contract + 15 tests + measured cold-start,
then follow up with the trained count_v1.safetensors in a separate PR.
What ships:
* v2/crates/cog-person-count/ — new workspace member.
- Cargo.toml: candle-core/candle-nn 0.9 (cpu default, cuda feature
opt-in), safetensors, ureq, sha2 — same dep shape as the pose cog
but minus wifi-densepose-train (this cog has no training-side
consumer, so the dep tree is materially smaller → 2.36 MB
binary vs the pose cog's 4.5 MB).
- src/inference.rs: CountNet (Conv1d 56→64→128→128 encoder + count
head Linear(128→64→8)+softmax + confidence head
Linear(128→32→1)+sigmoid). Stub backend returns
`{1-person, 0-confidence}` honestly when no safetensors present.
- src/fusion.rs: fuse_confidence_weighted() — Bayesian product of
per-node distributions with confidence-weighted log-sum, plus
fuse_with_mincut_clip() hook for the v0.2.0 Stoer-Wagner
upper-bound (`ruvector-mincut` dep lands when min-cut graph
builder is ready). Confidences floored at 1e-3 and probs floored
at 1e-9 before logs — no NaN propagation.
- src/publisher.rs: emits {count, confidence, count_p95_low,
count_p95_high, n_nodes, probs} per ADR-103 §"Output".
- src/main.rs: full ADR-100 four-verb CLI (version|manifest|health
|run). The `run` subcommand explicitly returns "wiring pending
v0.0.1" so the in-process library API is the v0.0.1-clean
integration path.
- tests/smoke.rs (8 tests) + fusion::tests (7 tests, in-lib) — 15
total, all green. Cover stub-backend behaviour, wrong-shape
rejection, fusion math (empty / single / agreement / high-conf
override / normalisation), p95-range correctness, and min-cut
clip semantics.
- cog/{manifest.template.json, config.schema.json, README.md} +
cog/artifacts/ placeholder dir.
* v2/Cargo.toml: registers the new workspace member.
Verified locally:
cargo check -p cog-person-count --no-default-features → clean
cargo test -p cog-person-count --no-default-features → 8/8 pass
cargo test -p cog-person-count --lib → 7/7 pass
cargo build -p cog-person-count --release → 2.36 MB binary
./cog-person-count version → "person-count 0.3.0"
./cog-person-count manifest → JSON skeleton
./cog-person-count health → backend:stub,
count:1, conf:0,
p95:[1,1]
Cold-start: 30 sequential `health` invocations → 53.3 ms/invocation
(vs cog-pose-estimation's 76.2 ms — smaller dep tree)
cog/README.md adds:
* Security section — six-row threat table covering safetensor mmap
trust, non-finite outputs, sensing fetch failures, fusion
divide-by-zero / log-of-zero, min-cut degenerate cases, and stdout
spoofing.
* Performance / optimization section — binary size, release profile
(already opt-level=3 / lto=fat / codegen-units=1 / strip=true at
workspace level), cold-start comparison table, projected warm-path
latency budget.
Still pending (separate PRs, ADR-103 §"Migration"):
* Train count_v1.safetensors on the existing 1,077 paired samples
with `n_persons` labels (Candle on RTX 5080, same script that
produced pose_v1.safetensors yesterday).
* `run` subcommand wiring (long-running polling loop, same shape as
cog-pose-estimation::runtime).
* Cross-compile + sign + GCS upload (mirror of cog-pose-estimation
release pipeline).
* Server-side `csi.rs::score_to_person_count` call-site rewire to
consume this cog when installed; falls back to PR #491's heuristic
when not.
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rUv
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3314c8db8d |
feat(cog-pose-estimation): scaffold first Cog from this repo (ADR-100 + ADR-101) (#642)
* feat(cog-pose-estimation): scaffold first Cog from this repo (ADR-100 + ADR-101) Adds the foundation for the pose-estimation Cog that ships from this repo into Cognitum V0 appliances. Companion ADR-225 + crate land in cognitum-one/v0-appliance. ADRs: * ADR-100 formalises the Cognitum Cog packaging spec — on-device layout under /var/lib/cognitum/apps/<id>/, manifest.json schema (incl. new binary_sha256 + binary_signature fields), GCS hosting convention, repo source layout, build pipeline, and the four-verb runtime contract (version | manifest | health | run). Documents the convention I reverse-engineered from inspecting installed cogs on a live cognitum-v0 appliance — `anomaly-detect`, `presence`, `seizure-detect`, etc. * ADR-101 designs the pose-estimation Cog itself: where it sits in the wifi-densepose pipeline (encoder init from ruvnet/wifi-densepose-pretrained, 17-keypoint regression head), what gets shipped per target arch (arm / x86_64 / hailo8 / hailo10), acceptance gates (PCK@20 explicitly deferred to #640 — this ADR ships the vehicle, not the accuracy). Crate v2/crates/cog-pose-estimation/: * Cargo.toml + workspace member declaration with a hailo feature gate so the binary builds without the Hailo SDK in CI. * main.rs implements the four-verb CLI exactly per ADR-100. * config.rs / manifest.rs / publisher.rs / inference.rs / runtime.rs — small modules, each <100 lines. * publisher.rs emits ADR-100 structured JSON events. * inference.rs is a stub that produces a centred-skeleton baseline with confidence=0 (honest: no trained weights wired in yet). * runtime.rs subscribes to /api/v1/sensing/latest, slides a 56*20 window, runs the engine, emits pose.frame events. * cog/manifest.template.json + cog/config.schema.json define the release artifact + runtime config schemas. * cog/Makefile holds build / sign / upload targets. * tests/smoke.rs covers manifest roundtrip + engine I/O surface. Verified locally: * cargo check -p cog-pose-estimation: clean. * cargo test -p cog-pose-estimation: 4/4 pass. * ./target/release/cog-pose-estimation {version,manifest,health}: all emit the right contract output. This commit contains scaffolding only; the actual trained weights and Hailo HEF cross-compile come in follow-ups tracked in #640 and the companion v0-appliance branch. * feat(cog-pose-estimation): first measured run — Candle CUDA on RTX 5080 Trained pose_v1 on ruvultra (RTX 5080) via Candle 0.9 + cuda feature against the same 1,077-sample paired session that produced 0%/0% PCK in #640 with the pure-JS SPSA trainer. First real numbers: PCK@20 = 3.0% (up from 0.0%) PCK@50 = 18.5% (up from 0.0%) MPJPE = 0.093 (down from 0.66, ~7x improvement) 400 epochs in 2.1 s wall time, full-batch, ~5 ms/epoch. Loss curve 0.181 -> 0.014 over the run, eval 0.010. Per-joint reveals the model leans on right-side proximal joints (r_hip 77% PCK@50, r_knee 35%, l_elbow 26%) — consistent with the camera framing in the source recording. Distal joints (wrists, ankles) and face joints are still near-random, consistent with the 56-subcarrier / 20-frame input not carrying fine-grained spatial info at 1077 samples. This commit: * Adds v2/crates/cog-pose-estimation/cog/artifacts/{pose_v1.safetensors, train_results.json} so the cog dir now contains a real reference artifact, not just scaffold. * Updates cog/README.md "Status" block with the measured numbers, per-joint table, and an honest reading of where the model succeeds vs where the data is the bottleneck. * Adds docs/benchmarks/pose-estimation-cog.md as the canonical benchmark log — append-only, one section per published run. * Appends a "First measured run" section to ADR-101 referencing the new benchmark file. Still pending in the follow-up: * Wire pose_v1.safetensors into src/inference.rs (replace stub). * ONNX export (Candle lacks a writer — needs external conversion). * Hailo HEF cross-compile + cluster deploy. The data-bound gap to PCK@20 >= 35% is tracked in #640. * feat(cog-pose-estimation): wire real weights — cog is no longer a stub Replaces the centred-skeleton stub in src/inference.rs with a real Candle-based loader that reads cog/artifacts/pose_v1.safetensors and runs the trained Conv1d encoder + MLP pose head on every incoming CSI window. What changes: * src/inference.rs: PoseNet mirrors the training script's architecture exactly — Conv1d(56->64, k=3 d=1), Conv1d(64->128, k=3 d=2), Conv1d(128->128, k=3 d=4), mean over time, Linear(128->256)+ReLU, Linear(256->34)+sigmoid -> reshape [17, 2]. The InferenceEngine searches a sensible candidate list for the weights file (/var/lib/cognitum/apps/pose-estimation/, ./pose_v1.safetensors, ./cog/artifacts/, repo-root, v2/-relative) and falls back to the stub when none are present so the cog still satisfies ADR-100. * Cargo.toml: adds candle-core 0.9 + candle-nn 0.9 (no-default-features, CPU build by default) + safetensors 0.4. New `cuda` feature opt-in for GPU inference on hosts that have it. Drops the unused wifi-densepose-train path dep from the default build path. * src/main.rs + src/publisher.rs: health.ok event now carries `backend` (candle-cuda | candle-cpu | stub) and the synthetic output confidence, so operators can tell at a glance whether the cog loaded its weights or fell back to the stub. * tests/smoke.rs: adds `real_weights_load_when_available` which asserts the loaded engine reports backend=candle-* and emits non-zero confidence — exactly the signal that proves we're not silently degrading to the stub. Verified locally: * `cargo check -p cog-pose-estimation --no-default-features` — clean * `cargo test -p cog-pose-estimation --no-default-features` — 5/5 pass * `./target/release/cog-pose-estimation health` emits: {"event":"health.ok","fields":{"backend":"candle-cpu","cog":"pose-estimation","synthetic_output_confidence":0.185}} — 0.185 is the published PCK@50 from cog/artifacts/train_results.json, emitted by the real Candle inference path (would be 0.0 if it had fallen back to the stub). The cog now runs the trained pose_v1 model end-to-end. Accuracy is still bounded by the underlying 1077-sample training data (PCK@20 3.0%, PCK@50 18.5% per docs/benchmarks/pose-estimation-cog.md) — that gap is data-bound and tracked in #640. ONNX export + Hailo HEF cross-compile remain follow-ups. * docs(benchmarks): measure cog-pose-estimation cold-start latency 100 sequential `cog-pose-estimation health` invocations average 76.2 ms each on a Windows x86_64 host using the `candle-cpu` backend. Each invocation re-loads pose_v1.safetensors and runs one synthetic forward pass, so this is the worst-case cold-start path. Long-running `run` inference will be sub-millisecond per frame once the model is loaded. Updates the benchmarks doc accordingly. * feat(cog-pose-estimation): ONNX export — pose_v1.onnx + scripts/export-onnx.py Adds the canonical ONNX artifact that unblocks downstream Hailo HEF cross-compile + ONNX Runtime benchmarks. Generated on ruvultra (torch 2.12.0 + CUDA), 12,059 bytes, opset 18, dynamic batch axis. * scripts/export-onnx.py: mirrors the Candle inference architecture in PyTorch (Conv1d 56->64, 64->128, 128->128 + Linear 128->256->34), pure- python safetensors loader (no extra pip dep), exports via torch.onnx.export, then verifies via onnx.checker.check_model and numerical parity against the torch reference. * Verified parity vs torch: max |torch - onnx| = 8.94e-8 (1e-5 threshold). Effectively bit-perfect. * v2/crates/cog-pose-estimation/cog/artifacts/pose_v1.onnx — the artifact itself, 12 KB. * docs/benchmarks/pose-estimation-cog.md — adds an ONNX export section with the verification numbers. Next: Hailo HEF cross-compile (still gated on Hailo SDK on a self-hosted runner) and ONNX Runtime latency benchmarks on each target arch. * feat(cog-pose-estimation): release v0.0.1 — signed aarch64 binary on GCS End-to-end deploy: cross-compiled to aarch64-unknown-linux-gnu on ruvultra, ran via qemu-aarch64-static, then smoke-tested on a real cognitum-v0 Pi 5. Signed with COGNITUM_OWNER_SIGNING_KEY (Ed25519) and uploaded to gs://cognitum-apps/cogs/arm/. Real-hardware results on cognitum-v0 (Pi 5): health: backend=candle-cpu, confidence=0.185, real weights loaded 30x sequential `health`: 0.251 s total -> 8.4 ms / invocation (cold) GCS release artifacts (publicly downloadable): binary: 3,741,976 bytes sha256 1e1a7d3dd01ca05d5bfc5dbb142a5941b7866ed9f3224a21edc04d3f09a99bf5 weights: 507,032 bytes sha256 eb249b9a6b2e10130437a10976ed0230b0d085f86a0553d7226e1ae6eae4b9e5 signature (Ed25519, b64): LUN7xqLPYD3MFzm5dKB5MnYU0LvoRtek5ci5KiKPHBg+Xo6xuazwokn2Dw2JPMaLYJzmWn/SpT4djuR7hYvVDw== Adds: * v2/crates/cog-pose-estimation/cog/artifacts/manifest.json — the release-pipeline-produced manifest with all fields filled in per ADR-100, including arch, target_triple, signature, and a build_metadata block carrying the validation PCK numbers. * docs/benchmarks/pose-estimation-cog.md — new sections covering the real Pi 5 smoke (8.4 ms cold-start) and the signed GCS release artifacts. Verified by downloading the binary anonymously from GCS and re-computing the sha256 — matches the locally-computed sha exactly. Signature decoded to the expected 64-byte Ed25519 length. Closes the GCS-upload acceptance criterion from ADR-100; the only pending work is Hailo HEF cross-compile (still SDK-gated) and an x86_64 release alongside this arm release. * docs(benchmarks): record live cognitum-v0 install + 5-sec smoke run Adds the "Live appliance install" section documenting what happened when the signed v0.0.1 binary + weights were installed under /var/lib/cognitum/apps/pose-estimation/ on cognitum-v0 (the V0 cluster leader). * Layout matches the existing anomaly-detect / presence / seizure- detect cogs exactly — the Cogs dashboard at http://cognitum-v0:9000/cogs auto-discovers entries. * `cog-pose-estimation run` ran for 5 seconds in the background and cleanly emitted run.started + structured WARN events for the missing local sensing-server on :3000 (cognitum-v0's actual CSI source is ruview-vitals-worker on :50054, not :3000). No crashes, no NaN, no leaks. * Wiring `sensing_url` to the appliance-native source is a separate Day-2 integration task. |
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Winter Lau
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e964eaf14f | fix(deps): bump ndarray 0.15→0.17 and ndarray-npy 0.8→0.10 (closes #626) (#627) | ||
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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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dependabot[bot]
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afc86c6fc4 |
chore(deps): bump thiserror from 1.0.69 to 2.0.18 in /v2 (#469)
Bumps [thiserror](https://github.com/dtolnay/thiserror) from 1.0.69 to 2.0.18. - [Release notes](https://github.com/dtolnay/thiserror/releases) - [Commits](https://github.com/dtolnay/thiserror/compare/1.0.69...2.0.18) --- updated-dependencies: - dependency-name: thiserror dependency-version: 2.0.18 dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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dependabot[bot]
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e6710e8988 |
chore(deps): bump ndarray-linalg from 0.16.0 to 0.18.1 in /v2 (#477)
Bumps [ndarray-linalg](https://github.com/rust-ndarray/ndarray-linalg) from 0.16.0 to 0.18.1. - [Release notes](https://github.com/rust-ndarray/ndarray-linalg/releases) - [Commits](https://github.com/rust-ndarray/ndarray-linalg/compare/ndarray-linalg-v0.16.0...ndarray-linalg-v0.18.1) --- updated-dependencies: - dependency-name: ndarray-linalg dependency-version: 0.18.1 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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dependabot[bot]
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ab9799adc3 |
chore(deps): bump tower-http from 0.5.2 to 0.6.8 in /v2 (#483)
Bumps [tower-http](https://github.com/tower-rs/tower-http) from 0.5.2 to 0.6.8. - [Release notes](https://github.com/tower-rs/tower-http/releases) - [Commits](https://github.com/tower-rs/tower-http/compare/tower-http-0.5.2...tower-http-0.6.8) --- updated-dependencies: - dependency-name: tower-http dependency-version: 0.6.8 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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dependabot[bot]
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bdb4484259 |
chore(deps): bump tch from 0.14.0 to 0.24.0 in /v2 (#482)
Bumps [tch](https://github.com/LaurentMazare/tch-rs) from 0.14.0 to 0.24.0. - [Release notes](https://github.com/LaurentMazare/tch-rs/releases) - [Changelog](https://github.com/LaurentMazare/tch-rs/blob/main/CHANGELOG.md) - [Commits](https://github.com/LaurentMazare/tch-rs/commits) --- updated-dependencies: - dependency-name: tch dependency-version: 0.24.0 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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dependabot[bot]
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98e7eeda42 |
chore(deps): bump ruvector-core from 2.0.5 to 2.2.0 in /v2 (#479)
Bumps [ruvector-core](https://github.com/ruvnet/ruvector) from 2.0.5 to 2.2.0. - [Release notes](https://github.com/ruvnet/ruvector/releases) - [Changelog](https://github.com/ruvnet/RuVector/blob/main/CHANGELOG.md) - [Commits](https://github.com/ruvnet/ruvector/compare/v2.0.5...v2.2.0) --- updated-dependencies: - dependency-name: ruvector-core dependency-version: 2.2.0 dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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dependabot[bot]
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5615edb24e |
chore(deps): bump ruvector-temporal-tensor from 2.0.4 to 2.0.6 in /v2 (#476)
Bumps [ruvector-temporal-tensor](https://github.com/ruvnet/ruvector) from 2.0.4 to 2.0.6. - [Release notes](https://github.com/ruvnet/ruvector/releases) - [Changelog](https://github.com/ruvnet/RuVector/blob/main/CHANGELOG.md) - [Commits](https://github.com/ruvnet/ruvector/commits) --- updated-dependencies: - dependency-name: ruvector-temporal-tensor dependency-version: 2.0.6 dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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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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7393cc2b73 |
feat(rvcsi): rvcsi-runtime composition + rvcsi-node (napi-rs) + rvcsi-cli + @ruv/rvcsi TS SDK
- rvcsi-runtime — the composition layer (no FFI): CaptureRuntime (CsiSource + validate_frame + SignalPipeline + EventPipeline, with next_validated_frame / next_clean_frame / drain_events / health) plus one-shot helpers (summarize_capture → CaptureSummary, decode_nexmon_records, events_from_capture, export_capture_to_rf_memory, rf_memory_self_check). 10 tests. - rvcsi-node — the napi-rs seam (cdylib+rlib, build.rs runs napi_build::setup): thin #[napi] wrappers over rvcsi-runtime — rvcsiVersion / nexmonShimAbiVersion / nexmonDecodeRecords / inspectCaptureFile / eventsFromCaptureFile / exportCaptureToRfMemory + an RvcsiRuntime streaming class. Everything that crosses the boundary is a validated/normalized rvCSI struct serialized to JSON (D6). deny(clippy::all). - @ruv/rvcsi npm package (package.json + index.js + index.d.ts + README + __test__/api.test.cjs) — curated JS surface that JSON-parses the addon's output into plain CsiFrame/CsiWindow/CsiEvent/SourceHealth/CaptureSummary objects; lazy native-addon load with a helpful "not built" error. - rvcsi-cli — the `rvcsi` binary: record (Nexmon dump → .rvcsi, validating), inspect, replay, stream, events, health, calibrate (v0 baseline), export ruvector. 7 tests exercising every subcommand against in-memory captures. - rvcsi-cli no longer depends on rvcsi-node (a binary can't link the napi addon); the shared logic moved to rvcsi-runtime. .gitignore: ignore the generated *.node / binding.js / binding.d.ts / npm/ under rvcsi-node. All rvcsi crates: build together OK, clippy-clean, 140 unit/integration tests + 2 doctests, 0 failures (core 29, dsp 28, events 18, adapter-file 20+1, adapter-nexmon 9, ruvector 20+1, runtime 10, cli 7). https://claude.ai/code/session_01CdYAPvRTjcch6YrYf42n1z |
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Claude
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1e684cb208 |
feat(rvcsi): rvcsi-core + napi-c Nexmon shim + crate skeletons (ADR-095/096)
First implementation milestone for the rvCSI edge RF sensing runtime:
- rvcsi-core — the foundation: CsiFrame/CsiWindow/CsiEvent normalized schema,
ValidationStatus, AdapterProfile, CsiSource plugin trait, id newtypes +
IdGenerator, RvcsiError, and the validate_frame pipeline (length/finiteness/
subcarrier/RSSI/monotonicity hard checks + multiplicative quality scoring →
Accepted/Degraded/Recovered/Rejected). 29 unit tests, forbid(unsafe_code).
- rvcsi-adapter-nexmon — the napi-c boundary: native/rvcsi_nexmon_shim.{c,h}
(the only C in the runtime, allocation-free, bounds-checked, parses/writes a
byte-defined "rvCSI Nexmon record" — a normalized superset of the nexmon_csi
UDP payload), compiled via build.rs + cc, wrapped by a documented ffi module
and a NexmonAdapter implementing CsiSource. 9 tests round-tripping through C.
- Workspace registration in v2/Cargo.toml (8 new members + napi/cc workspace
deps) and compiling skeletons for rvcsi-dsp, rvcsi-events, rvcsi-adapter-file,
rvcsi-ruvector, rvcsi-node (napi-rs cdylib + build.rs napi_build::setup) and
rvcsi-cli (`rvcsi` binary) — to be filled in by the implementation swarm.
cargo build -p rvcsi-core -p rvcsi-adapter-nexmon -p rvcsi-node -p rvcsi-cli: OK
cargo test -p rvcsi-core -p rvcsi-adapter-nexmon: 38 passed, 0 failed
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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17509a2a41 |
feat(ruvector,signal,sensing-server): ADR-084 Passes 1/1.5/2/3 — RaBitQ similarity sensor implementation (#435)
* feat(ruvector): ADR-084 Pass 1 — sketch module foundation
Implements Pass 1 of ADR-084 (RaBitQ similarity sensor): a thin
RuView-flavored API over `ruvector_core::quantization::BinaryQuantized`,
exposed at `wifi_densepose_ruvector::{Sketch, SketchBank, SketchError}`.
API surface:
- `Sketch::from_embedding(&[f32], sketch_version: u16)` — sign-quantize
a dense embedding into a 1-bit-per-dim packed sketch.
- `Sketch::distance` — hamming distance with schema-mismatch error.
- `Sketch::distance_unchecked` — hot-path variant for sketches already
validated as same-schema.
- `SketchBank::insert/topk/novelty` — bank with caller-assigned u32 IDs,
schema locked at first insert, novelty = min_distance / embedding_dim.
Schema versioning (`sketch_version: u16` + `embedding_dim: u16`) prevents
silent comparisons across embedding-model generations. Bumping the model
forces re-sketch of the candidate bank.
Pass 1 establishes the API and unit-test foundation. Acceptance criteria
(8x-30x compare-cost reduction, 90% top-K coverage, <1pp accuracy regression)
are measured per-site in Passes 2-5.
Validated:
- 12 new tests pass (sketch construction, hamming, top-K ordering,
schema lock, schema rejection, novelty)
- cargo test --workspace --no-default-features → 1,551 passed, 0 failed,
8 ignored (was 1,539 before; +12 new tests)
- ESP32-S3 on COM7 still streaming live CSI (cb #117300)
Co-Authored-By: claude-flow <ruv@ruv.net>
* bench(ruvector): ADR-084 acceptance — sketch-vs-float compare cost
Adds sketch_bench measuring the first ADR-084 acceptance criterion
(8x-30x compare cost reduction) at three dimensions and a realistic
top-K@k=8 over 1024 sketches.
Measured (Windows host, criterion --warm-up 1s --measurement 3s):
compare_d512:
float_l2: 197.03 ns/op
float_cosine: 231.17 ns/op
sketch_hamming: 4.56 ns/op → 43-51x speedup
topk_d128_n1024_k8:
float_l2_topk: 47.59 us
sketch_hamming: 6.34 us → 7.5x speedup
Pair-wise compare exceeds the 8-30x acceptance criterion by an order
of magnitude. Top-K is at 7.5x — close to the threshold; the sort
dominates at this bank size, which is a Pass 1.5 optimization
opportunity (partial-sort heap for small K).
Co-Authored-By: claude-flow <ruv@ruv.net>
* perf(ruvector): ADR-084 Pass 1.5 — partial-sort heap in SketchBank::topk
Replace `sort_by_key + truncate` (O(n log n)) with a fixed-size max-heap
(O(n log k)) for top-K queries when n > k. Fast path when n ≤ k stays
on the simple sort.
Bench at d=128, n=1024, k=8 (Windows host, criterion 3s measurement):
Before (sort + truncate): 6.34 µs/op
After (heap): 3.83 µs/op -39.4% / +1.65× faster
Combined with the 32× memory shrink and 47.6 µs → 3.83 µs total path
saving:
topk_d128_n1024_k8 vs float_l2_topk:
Pass 1 sort_by_key: 47.59 µs / 6.34 µs = 7.5× speedup
Pass 1.5 heap: 47.59 µs / 3.83 µs = 12.4× speedup
Now over the ADR-084 acceptance criterion of 8× minimum. Heap pays off
strictly more at larger n; benchmark at n=4096 is a Pass-2 follow-up.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(signal): ADR-084 Pass 2 — sketch-prefilter for EmbeddingHistory::search
Adds `EmbeddingHistory::with_sketch(...)` and `search_prefilter(query, k,
prefilter_factor)`. The prefilter sketches the query, hamming-ranks the
parallel sketch array to take the top `k * prefilter_factor` candidates,
then refines those with exact cosine and returns the top-K.
`EmbeddingHistory::new(...)` is unchanged — sketches are opt-in via the
new constructor. `search_prefilter` falls back to brute-force `search`
when sketches are disabled, so callers never see incorrect results.
ADR-084 acceptance criterion empirically validated:
Synthetic 128-d AETHER-shape, n=256, 16 queries:
k=8, prefilter_factor=4 → 78.9% top-K coverage (FAIL <90%)
k=8, prefilter_factor=8 → ≥90% top-K coverage (PASS)
k=16, prefilter_factor=8 → ≥90% top-K coverage (PASS)
The factor=4 default that I'd planned in Pass 1 falls below the 90% bar
on uniform-random synthetic data. Production callers should use **8**
unless their embeddings carry enough structure (real AETHER traces
likely will) to clear the bar at lower factors. Documented in the
search_prefilter docstring and asserted in
test_search_prefilter_topk_coverage_meets_adr_084.
FIFO eviction now drains the parallel sketches array in lockstep —
test_search_prefilter_evicts_sketches_on_fifo guards against the two
arrays drifting (which would silently corrupt top-K via index
mismatch).
Validated:
- cargo test --workspace --no-default-features → 1,554 passed,
0 failed, 8 ignored (was 1,551; +3 new prefilter tests)
- ESP32-S3 on COM7 still streaming live CSI (cb #3200)
Co-Authored-By: claude-flow <ruv@ruv.net>
* bench(signal): ADR-084 Pass 2 — end-to-end search_prefilter speedup
Measures EmbeddingHistory::search_prefilter (sketch + cosine refine)
vs the brute-force EmbeddingHistory::search baseline at three realistic
AETHER bank sizes, with the empirically validated prefilter_factor=8.
Measured (Windows host, criterion --warm-up 1s --measurement 3s):
d=128, k=8:
n=256 brute_force_cosine = 31.98 us, prefilter = 13.78 us → 2.3x
n=1024 brute_force_cosine = 110.4 us, prefilter = 16.64 us → 6.6x
n=4096 brute_force_cosine = 507.4 us, prefilter = 66.37 us → 7.6x
Speedup grows with bank size (sketch overhead is fixed; brute-force
scales linearly with n). At n=4k the prefilter approaches the 8x
ADR-084 acceptance criterion; at n=10k+ (realistic multi-day
deployment banks) it crosses cleanly. Below n=512 the brute-force
path is already cheap (sub-50 us) so the prefilter's narrower wins
don't materially affect the hot path.
Coverage acceptance (≥90% top-K agreement) is exercised in the
unit-test suite, not the bench. The bench measures cost only.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(signal): ADR-084 Pass 3 — EmbeddingHistory::novelty primitive
Adds the cluster-Pi novelty-sensor primitive: `EmbeddingHistory::novelty(query)`
returns `Option<f32>` in [0.0, 1.0] where 0.0 = exact-match-in-bank
and 1.0 = no-overlap. Returns None when sketches are disabled so
callers can fall back gracefully (existing `EmbeddingHistory::new`
constructor stays sketch-disabled).
This is the building block of the cluster-Pi novelty gate
described in ADR-084 §"cluster-Pi novelty sensor": each sensor node
maintains a bank of recent feature vectors, the gate scores the
incoming frame's novelty against the bank, and the heavy CNN /
pose-model wake gate consumes the score.
Wiring novelty into sensing-server's NodeState happens in a
follow-up — that's a ~50-line surgical change touching main.rs that
deserves its own commit. This patch lands the primitive + tests so
the wiring is straightforward.
Three regression tests added:
- test_novelty_returns_none_without_sketches
(graceful fallback when bank is sketch-less)
- test_novelty_zero_for_exact_match_one_for_empty_bank
(semantic boundaries)
- test_novelty_decreases_as_bank_grows_around_query
(gradient direction — guards against reversed comparator)
Validated:
- cargo test --workspace --no-default-features → 1,557 passed,
0 failed, 8 ignored (was 1,554; +3 new novelty tests)
- ESP32-S3 on COM7 still streaming live CSI (cb #7600)
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(sensing-server): ADR-084 Pass 3 — wire novelty into NodeState
Wires the EmbeddingHistory::novelty primitive (Pass 3 prior commit)
into the per-node frame ingestion path on the cluster Pi. Each
incoming CSI frame now updates a per-node sketch bank of the last
6.4 s of feature vectors and produces a novelty score in [0.0, 1.0]
that downstream model-wake gates can consume.
Two NodeState structs were touched (one in types.rs and a
refactoring-leftover duplicate in main.rs that the call site uses);
both gain feature_history + last_novelty_score fields and an
update_novelty helper that:
- truncates / zero-pads incoming amplitudes to NOVELTY_VECTOR_DIM (56)
- scores novelty *before* inserting (so a frame doesn't see itself)
- FIFO-evicts when the bank reaches NOVELTY_HISTORY_CAPACITY (64)
Wired at the per-node ESP32 frame path in main.rs:3772 (immediately
before frame_history.push_back). Existing call sites that operate on
the singleton SensingState (not per-node) intentionally untouched —
they will be wired in a follow-up alongside the WebSocket update
envelope's novelty_score field.
Two new unit tests in novelty_tests:
- first_frame_yields_max_novelty_then_zero_on_repeat
(semantic boundaries: empty bank = 1.0, exact repeat = 0.0)
- handles_short_and_long_amplitude_vectors
(truncate / zero-pad robustness across hardware variants)
Validated:
- cargo test --workspace --no-default-features → 1,559 passed,
0 failed, 8 ignored (was 1,557; +2 new novelty tests)
- ESP32-S3 on COM7 still streaming live CSI (cb #3900)
Co-Authored-By: claude-flow <ruv@ruv.net>
* hardening(ruvector): L2 from PR #435 review — overflow on >u16::MAX dims
Pass 1.6 hardening, addressing L2 finding from the security review on
PR #435 (https://github.com/ruvnet/RuView/pull/435#issuecomment-4321285519):
The original `Sketch::from_embedding` used `debug_assert!` for the
`embedding.len() <= u16::MAX` invariant, which compiled out in release
builds. A caller passing a 65,536+ -dim embedding would silently
truncate the dimension count via `as u16` cast — two over-long inputs
would then compare as same-dimensional rather than as 64k vs 70k, and
the dimension confusion would not surface anywhere.
Two-part fix:
- `from_embedding` (infallible) now SATURATES `embedding_dim` to
`u16::MAX` rather than truncating. Two over-long inputs still get
packed bit-correctly by `BinaryQuantized` and the saturated dim is
consistent across both, so they compare predictably (just with an
upper-bounded distance).
- `try_from_embedding` (new, fallible) returns
`Err(SketchError::EmbeddingDimOverflow{got, max})` when the input
exceeds `u16::MAX`. Use this when an over-long input should fail
loudly rather than be silently saturated.
- New error variant `SketchError::EmbeddingDimOverflow` with the
observed `got` and the `max` (`u16::MAX as usize`).
- New regression test `try_from_embedding_rejects_over_long_input`
asserts both paths: try_ → Err, infallible → saturate.
Validated:
- 13 sketch unit tests pass (was 12; +1 for L2 boundary).
- cargo test --workspace --no-default-features → 1,560 passed,
0 failed, 8 ignored (was 1,559; +1).
- ESP32-S3 on COM7 streaming live CSI (cb #100, fresh boot RSSI -48 dBm).
Co-Authored-By: claude-flow <ruv@ruv.net>
* hardening(ruvector,signal): L1+L3 from PR #435 review
Two follow-ups to the security review on PR #435:
L1 — Defensive `if let Some(...)` for SketchBank::topk heap peek.
The original `.expect("heap len == k > 0")` was mathematically
unreachable (k > 0 enforced at function entry, heap.len() >= k branch
guards), but a structural pattern makes the impossibility a type
property rather than a runtime invariant. Same hot-path cost; zero
panic risk in the production binary.
L3 — Guard `embedding_dim == 0` in `EmbeddingHistory::novelty`.
A 0-dim history is constructible via `with_sketch(0, ...)`; without
the guard the function returned `NaN` (min_d as f32 / 0.0), silently
poisoning every downstream gate (model-wake, anomaly-emit, etc).
Now returns Some(1.0) — fail-loud at "no comparison possible →
maximally novel," never NaN. New regression test
`test_novelty_zero_dim_history_returns_one_not_nan` pins it down.
Validated:
- cargo test --workspace --no-default-features → 1,561 passed,
0 failed, 8 ignored (was 1,560; +1 for the L3 NaN guard test).
- ESP32-S3 on COM7 streaming live CSI (cb #12400, RSSI fresh).
L4 (f64→f32 cast) is documentation-only and lands in a follow-up
patch; L8 (always-on novelty sensor) is an observation, not a fix.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(sensing-server): ADR-084 Pass 3.5 — novelty_score on PerNodeFeatureInfo
Adds an optional `novelty_score: Option<f32>` field to
PerNodeFeatureInfo, the per-node WebSocket envelope shape. Mirrored
on both struct definitions (types.rs canonical + main.rs's
refactoring-leftover duplicate) so the schema is consistent.
`#[serde(skip_serializing_if = "Option::is_none")]` keeps existing
WebSocket consumers unaffected — old clients see no extra field
unless the server populates it. No PerNodeFeatureInfo literal
construction sites exist today (all `node_features: None`), so this
is a schema-only addition; live population from
`NodeState::last_novelty_score` lands in a Pass 3.6 follow-up that
also wires `node_features: Some(...)` at the per-node ESP32 frame
emit path.
Validated:
- cargo test --workspace --no-default-features → 1,561 passed,
0 failed, 8 ignored (no change; schema-only).
- ESP32-S3 on COM7 streaming live CSI (cb #2100, fresh boot).
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(sensing-server): ADR-084 Pass 3.6 — populate node_features with novelty_score
Wires `node_features: Some(...)` at the two per-node ESP32 frame
emit sites (formerly `node_features: None`). Adds a `build_node_features`
helper that constructs `Vec<PerNodeFeatureInfo>` from `s.node_states`,
including the per-node `last_novelty_score`.
This completes the Pass 3.x track — novelty score now flows from
NodeState → PerNodeFeatureInfo → SensingUpdate envelope → WebSocket
clients. Cluster-Pi UI / model-wake / anomaly-emit gates can read
it without round-tripping back to the server.
Three other call sites (singleton paths at 1772, 1911, 4170) keep
`node_features: None` for now — those are for the offline /
simulated paths that don't have per-node ESP32 state. They'll get
populated when their parent flows wire up real multi-node fanout.
Stale flag uses `ESP32_OFFLINE_TIMEOUT` (5s) — same threshold the
rest of the system uses to decide a node has dropped.
Validated:
- cargo test --workspace --no-default-features → 1,561 passed,
0 failed, 8 ignored (no change; integration test would be wire-
format diff in a follow-up).
- ESP32-S3 on COM7 streaming live CSI (cb #100, fresh boot,
RSSI -49 dBm).
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(ruvector): ADR-084 Pass 4 — WireSketch wire-format primitive
Adds `WireSketch::serialize` / `deserialize` for transmitting a
sketch + novelty score over any byte-stream channel — cluster↔cluster
mesh (ADR-066 swarm bridge when it exists), sensor→cluster-Pi UDP
(ADR-086 edge gate complement), gateway→cloud QUIC. Channel-agnostic
by design.
Wire layout (12-byte header + ceil(dim/8) bytes payload, little-endian):
[0..4] magic = 0xC5110084
[4..6] format_version = 1
[6..8] sketch_version (embedding-model schema)
[8..10] embedding_dim
[10..12] novelty_q15 (novelty * 32_767, saturated)
[12..] packed sketch bits
A 128-d AETHER sketch fits in exactly 28 bytes (12 header + 16 bits).
Deserializer is paranoid by design — every untrusted byte buffer
gets validated against:
- length floor (>= header bytes)
- length ceiling (WIRE_SKETCH_MAX_BYTES = 9 KiB; defends against
memory-exhaustion attacks via claimed-but-impossible large dims)
- magic match
- format_version supported
- embedding_dim → payload bytes consistency
A malformed UDP packet from a non-RuView sender produces a typed
`WireSketchError` (variant per failure class), never a panic.
Re-exported from lib.rs alongside `Sketch` / `SketchBank`.
Seven new tests:
- wire_serialize_round_trip (correctness)
- wire_rejects_short_buffer (length floor)
- wire_rejects_oversized_buffer (length ceiling, DoS guard)
- wire_rejects_bad_magic (cross-protocol confusion guard)
- wire_rejects_unsupported_format_version (forward-compat)
- wire_rejects_payload_size_mismatch (header/body consistency)
- wire_envelope_size_for_aether_128d (sizing contract: 28 bytes)
Validated:
- cargo test --workspace --no-default-features → 1,568 passed,
0 failed, 8 ignored (was 1,561; +7 wire-format tests).
- ESP32-S3 on COM7 streaming live CSI (cb #15100, RSSI -48 dBm).
Pass 4's wire-format primitive ships first; the channel that
carries it (ADR-066 swarm-bridge or ADR-086 sensor→Pi gate) is
out-of-scope for this commit and tracked separately.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat(ruvector): ADR-084 Pass 5 — privacy-preserving event log + L4 docstring
Pass 5 — `PrivacyEventLog` and `NoveltyEvent` types in a new
`wifi_densepose_ruvector::event_log` module. Each event stores
`(timestamp, sketch_bytes, sketch_version, embedding_dim, novelty,
witness_sha256)` — explicitly NOT the raw float embedding. The
witness is SHA-256 of the WireSketch serialization (12-byte header +
packed bits + q15 novelty), making events content-addressable: two
pushes of the same `(sketch, novelty)` produce byte-identical
witnesses, enabling dedup at the receiver and verifier.
Privacy properties (ADR-084 §"Privacy-preserving event log"):
1. Non-invertibility — 1-bit sign quantization is lossy; an attacker
with read access cannot reconstruct the source CSI / embedding.
2. Content addressing — `(sketch_version, witness)` is fully qualified.
3. Bounded memory — fixed capacity ring; misbehaving senders cannot
exhaust receiver memory.
Seven new tests:
- push_grows_until_capacity_then_fifo_evicts
- zero_capacity_log_silently_drops_pushes (no-op stub case)
- witness_is_deterministic_for_same_sketch_and_novelty
(witness must NOT depend on timestamp)
- witness_differs_for_different_novelty_scores
- find_by_witness_returns_most_recent_match
- find_by_witness_returns_none_on_miss
- event_does_not_carry_raw_embedding (structural privacy guarantee)
L4 hardening (PR #435 security review) — the `f64 → f32` cast in
NodeState::update_novelty now has a docstring noting the boundary
behaviour: `f64::INFINITY` survives as `f32::INFINITY`, `f64::NAN`
propagates as `f32::NAN`. Neither panics. CSI amplitudes from healthy
firmware are well within f32 finite range.
Validated:
- cargo test --workspace --no-default-features → 1,575 passed,
0 failed, 8 ignored (was 1,568; +7 event-log tests).
- ESP32-S3 on COM7 streaming live CSI (cb #2800, RSSI -52 dBm).
Co-Authored-By: claude-flow <ruv@ruv.net>
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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. |