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rUv
c7ddb2d7d1
* 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>
223 lines
8.6 KiB
TOML
223 lines
8.6 KiB
TOML
[workspace]
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resolver = "2"
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members = [
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"crates/wifi-densepose-core",
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"crates/wifi-densepose-signal",
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"crates/wifi-densepose-nn",
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# wifi-densepose-api / -db / -config: removed in #578.
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# The crate names were reserved early for an envisioned REST/database/config
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# split, but no implementation followed and no code referenced them. The
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# functionality they would provide is covered today by:
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# - REST/WS: `wifi-densepose-sensing-server` (Axum)
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# - Config: per-crate config + CLI args in `wifi-densepose-sensing-server`
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# and `wifi-densepose-desktop`
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# - DB: no persistent state; system is real-time
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# If we ever need any of these as a published surface, they can be
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# reintroduced with a real implementation.
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"crates/wifi-densepose-hardware",
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"crates/wifi-densepose-wasm",
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"crates/wifi-densepose-cli",
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"crates/wifi-densepose-mat",
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"crates/wifi-densepose-train",
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"crates/wifi-densepose-sensing-server",
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"crates/wifi-densepose-wifiscan",
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"crates/wifi-densepose-vitals",
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"crates/wifi-densepose-ruvector",
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"crates/wifi-densepose-desktop",
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"crates/wifi-densepose-pointcloud",
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"crates/wifi-densepose-geo",
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"crates/wifi-densepose-worldgraph", # ADR-139 — WorldGraph environmental digital twin
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"crates/wifi-densepose-engine", # ADR-135..146 integration/composition layer
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"crates/nvsim",
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"crates/nvsim-server",
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"crates/homecore", # ADR-127 — HOMECORE state machine
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"crates/homecore-plugins", # ADR-128 — HOMECORE-PLUGINS WASM runtime (P1 scaffold)
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"crates/homecore-api", # ADR-130 — HOMECORE REST + WS API
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"crates/homecore-automation", # ADR-129 — HOMECORE automation engine
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"crates/homecore-recorder", # ADR-132 — HOMECORE state recorder
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"crates/homecore-migrate", # ADR-134 — HOMECORE migration from Python HA
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# ADR-100/ADR-101: Cognitum Cog packaging — first Cog from this repo.
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# Ships the wifi-densepose pose-estimation model as a signed binary +
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# JSONL manifest installable by the Cognitum V0 appliance (cognitum-v0,
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# cognitum-cluster-*, ruvultra). The companion appliance-side crate
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# lives in cognitum-one/v0-appliance as `cognitum-pose-estimation`.
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"crates/cog-pose-estimation",
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# ADR-103: Learned multi-person counter (SOTA path) — replaces the
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# PR #491 slot heuristic with a Candle network + Stoer-Wagner fusion.
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# Motivated by #499 ghost-skeleton reports.
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"crates/cog-person-count",
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# ADR-116: Home Assistant + Matter Cognitum Seed cog. Wraps the
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# ADR-115 MQTT publisher as a Seed-installable artifact with
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# mDNS, embedded broker, RuVector thresholds, Ed25519 witness.
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"crates/cog-ha-matter",
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# ADR-118: BFLD — Beamforming Feedback Layer for Detection. The
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# privacy/safety layer that measures and gates identity leakage from
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# WiFi BFI captures. Sub-ADRs: 119 (frame), 120 (privacy class),
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# 121 (identity risk), 122 (HA/Matter), 123 (capture path).
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"crates/wifi-densepose-bfld",
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# ADR-147: OccWorld thin-client bridge — WorldGraph PersonTrack history →
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# OccWorld Python subprocess → TrajectoryPrior injection into pose tracker.
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"crates/wifi-densepose-worldmodel",
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# rvCSI — edge RF sensing runtime (ADR-095 platform, ADR-096 FFI/crate layout):
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# lives in its own repo (https://github.com/ruvnet/rvcsi), vendored here as
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# `vendor/rvcsi` and published to crates.io as `rvcsi-*` 0.3.x. Depend on the
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# published crates (or the submodule's `crates/rvcsi-*` paths) — not as v2
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# workspace members, since `vendor/rvcsi/Cargo.toml` is its own workspace.
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"crates/homecore-hap", # ADR-125 — Apple Home HomeKit Accessory Protocol bridge
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"crates/homecore-assist", # ADR-133 — HOMECORE voice assistant + ruflo bridge
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"crates/homecore-server", # iter-9 — HOMECORE integration binary (all 8 crates wired together)
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]
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# ADR-040: WASM edge crate targets wasm32-unknown-unknown (no_std),
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# excluded from workspace to avoid breaking `cargo test --workspace`.
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# Build separately: cargo build -p wifi-densepose-wasm-edge --target wasm32-unknown-unknown --release
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#
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# ADR-128 P2: example WASM plugin — also wasm32-only (no_std, cdylib),
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# excluded for the same reason. Build separately:
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# cargo build --target wasm32-unknown-unknown --release -p homecore-plugin-example
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exclude = [
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"crates/wifi-densepose-wasm-edge",
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"crates/homecore-plugin-example",
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]
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[workspace.package]
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version = "0.3.0"
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edition = "2021"
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authors = ["rUv <ruv@ruv.net>", "WiFi-DensePose Contributors"]
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license = "MIT OR Apache-2.0"
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repository = "https://github.com/ruvnet/wifi-densepose"
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documentation = "https://docs.rs/wifi-densepose"
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keywords = ["wifi", "densepose", "csi", "pose-estimation", "rust"]
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categories = ["science", "computer-vision", "wasm"]
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[workspace.dependencies]
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# Core utilities
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thiserror = "2.0"
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anyhow = "1.0"
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serde = { version = "1.0", features = ["derive"] }
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serde_json = "1.0"
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serde_yaml = "0.9"
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tokio = { version = "1.35", features = ["full"] }
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tracing = "0.1"
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tracing-subscriber = { version = "0.3", features = ["env-filter", "json"] }
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# Signal processing
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ndarray = { version = "0.17", features = ["serde"] }
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ndarray-linalg = { version = "0.18", features = ["openblas-static"] }
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rustfft = "6.1"
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num-complex = "0.4"
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num-traits = "0.2"
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# Neural network
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tch = "0.24"
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ort = { version = "2.0.0-rc.11" }
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candle-core = "0.4"
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candle-nn = "0.4"
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# Web framework
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axum = { version = "0.7", features = ["ws", "macros"] }
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tower = { version = "0.4", features = ["full"] }
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tower-http = { version = "0.6", features = ["cors", "trace", "compression-gzip"] }
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hyper = { version = "1.1", features = ["full"] }
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# Database
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sqlx = { version = "0.7", features = ["runtime-tokio", "postgres", "sqlite", "uuid", "chrono", "json"] }
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redis = { version = "0.24", features = ["tokio-comp", "connection-manager"] }
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# Configuration
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config = "0.14"
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dotenvy = "0.15"
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envy = "0.4"
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# WASM
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wasm-bindgen = "0.2"
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wasm-bindgen-futures = "0.4"
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js-sys = "0.3"
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web-sys = { version = "0.3", features = ["console", "Window", "WebSocket"] }
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getrandom = { version = "0.2", features = ["js"] }
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# Hardware
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serialport = "4.3"
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pcap = "1.1"
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# Graph algorithms (for min-cut assignment in metrics)
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petgraph = "0.6"
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# Data loading
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ndarray-npy = "0.10"
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walkdir = "2.4"
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# Hashing (for proof)
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sha2 = "0.10"
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# CSV logging
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csv = "1.3"
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# Progress bars
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indicatif = "0.17"
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# CLI
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clap = { version = "4.4", features = ["derive", "env"] }
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# rvCSI: napi-rs (Rust -> Node bindings) + napi-c (C-shim build glue)
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napi = { version = "2.16", default-features = false, features = ["napi8"] }
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napi-derive = "2.16"
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napi-build = "2.1"
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cc = "1.0"
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libc = "0.2"
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# Testing
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criterion = { version = "0.5", features = ["html_reports"] }
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proptest = "1.4"
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mockall = "0.12"
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wiremock = "0.5"
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# midstreamer integration (published on crates.io)
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# 0.1.0 was yanked; upgrade to latest 0.3/0.2 releases which pull in
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# quinn-proto >=0.11.14 (fixes RUSTSEC-2026-0037) and
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# rustls-webpki >=0.103.13 (fixes RUSTSEC-2026-0049/0098/0099/0104).
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midstreamer-quic = "0.3"
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midstreamer-scheduler = "0.2"
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midstreamer-temporal-compare = "0.2"
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midstreamer-attractor = "0.2"
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# ruvector integration (published on crates.io)
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# Vendored at v2.1.0 in vendor/ruvector; using crates.io versions until published.
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ruvector-core = "2.2.0"
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ruvector-mincut = "2.0.4"
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ruvector-attn-mincut = "2.0.4"
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ruvector-temporal-tensor = "2.0.6"
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ruvector-solver = "2.0.4"
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ruvector-attention = "2.0.4"
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ruvector-crv = "0.1.1"
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ruvector-gnn = { version = "2.0.5", default-features = false }
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# Internal crates
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wifi-densepose-core = { version = "0.3.0", path = "crates/wifi-densepose-core" }
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wifi-densepose-signal = { version = "0.3.0", path = "crates/wifi-densepose-signal" }
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wifi-densepose-nn = { version = "0.3.0", path = "crates/wifi-densepose-nn" }
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wifi-densepose-api = { version = "0.3.0", path = "crates/wifi-densepose-api" }
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wifi-densepose-db = { version = "0.3.0", path = "crates/wifi-densepose-db" }
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wifi-densepose-config = { version = "0.3.0", path = "crates/wifi-densepose-config" }
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wifi-densepose-hardware = { version = "0.3.0", path = "crates/wifi-densepose-hardware" }
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wifi-densepose-wasm = { version = "0.3.0", path = "crates/wifi-densepose-wasm" }
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wifi-densepose-mat = { version = "0.3.0", path = "crates/wifi-densepose-mat" }
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wifi-densepose-ruvector = { version = "0.3.0", path = "crates/wifi-densepose-ruvector" }
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wifi-densepose-worldmodel = { version = "0.3.0", path = "crates/wifi-densepose-worldmodel" }
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[profile.release]
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lto = true
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codegen-units = 1
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panic = "abort"
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strip = true
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opt-level = 3
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[profile.release-with-debug]
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inherits = "release"
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debug = true
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strip = false
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[profile.bench]
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inherits = "release"
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debug = true
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