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Tags: ruvnet/RuView
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Release v0.6.2-esp32: ADR-081 kernel + Timer Svc fix, 4MB CI variant version.txt → 0.6.2. firmware-ci.yml: matrix-build both 8MB (sdkconfig.defaults) and 4MB (sdkconfig.defaults.4mb) variants, uploading variant-named artifacts (esp32-csi-node.bin / esp32-csi-node-4mb.bin, partition-table.bin / partition-table-4mb.bin). Unblocks 6-binary releases from CI alone, no local ESP-IDF required. CHANGELOG: promote [Unreleased] ADR-081 work into [v0.6.2-esp32], plus Fixed entries for Timer Svc stack overflow and the fast_loop_cb → emit_feature_state implicit-decl compile error. Validation: 30 s run on ESP32-S3 (MAC 3c:0f:02:e9:b5:f8), 149 rv_feature_state emissions, no stack overflow, HEALTH mesh packet sent. Co-Authored-By: claude-flow <ruv@ruv.net>
feat: cross-node fusion + DynamicMinCut + RSSI tracking (v0.5.3) * feat(server): cross-node RSSI-weighted feature fusion + benchmarks Adds fuse_multi_node_features() that combines CSI features across all active ESP32 nodes using RSSI-based weighting (closer node = higher weight). Benchmark results (2 ESP32 nodes, 30s, ~1500 frames): Metric | Baseline | Fusion | Improvement ---------------------|----------|---------|------------ Variance mean | 109.4 | 77.6 | -29% noise Variance std | 154.1 | 105.4 | -32% stability Confidence | 0.643 | 0.686 | +7% Keypoint spread std | 4.5 | 1.3 | -72% jitter Presence ratio | 93.4% | 94.6% | +1.3pp Person count still fluctuates near threshold — tracked as known issue. Verified on real hardware: COM6 (node 1) + COM9 (node 2) on ruv.net. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(ui): add client-side lerp smoothing to pose renderer Keypoints now interpolate between frames (alpha=0.25) instead of jumping directly to new positions. This eliminates visual jitter that persists even with server-side EMA smoothing, because the renderer was drawing every WebSocket frame at full rate. Applied to skeleton, keypoints, and dense body rendering paths. Co-Authored-By: claude-flow <ruv@ruv.net> * feat: DynamicMinCut person separation + UI lerp smoothing - Added ruvector-mincut dependency to sensing server - Replaced variance-based person scoring with actual graph min-cut on subcarrier temporal correlation matrix (Pearson correlation edges, DynamicMinCut exact max-flow) - Recalibrated feature scaling for real ESP32 data ranges - UI: client-side lerp interpolation (alpha=0.25) on keypoint positions - Dampened procedural animation (noise, stride, extremity jitter) - Person count thresholds retuned for mincut ratio Co-Authored-By: claude-flow <ruv@ruv.net> * docs: update CHANGELOG with v0.5.1-v0.5.3 releases Co-Authored-By: claude-flow <ruv@ruv.net>
fix(server): correct RSSI byte offset in frame parser (#332) The server parsed rssi from buf[14] and noise_floor from buf[15], but the firmware (csi_collector.c) packs them at buf[16] and buf[17]: Firmware: n_subcarriers=u16(6-7) freq=u32(8-11) seq=u32(12-15) rssi=i8(16) Server: n_subcarriers=u8(6) freq=u16(8-9) seq=u32(10-13) rssi=i8(14) ← WRONG This caused RSSI to read the high byte of the sequence counter instead of the actual signed RSSI value, producing positive values (e.g., +9) instead of the correct negative values (e.g., -46 dBm). Added inline documentation of the frame layout matching csi_collector.c. Closes #332
fix(firmware,server): watchdog crash + no detection from edge vitals (#… …321, #323) * fix(firmware,server): watchdog crash on busy LANs + no detection from edge vitals (#321, #323) **Firmware (#321):** edge_dsp task now batch-limits frame processing to 4 frames before a 10ms yield. On corporate LANs with high CSI frame rates, the previous 1-tick-per-frame yield wasn't enough to prevent IDLE1 starvation and task watchdog triggers. **Sensing server (#323):** When ESP32 runs the edge DSP pipeline (Tier 2+), it sends vitals packets (magic 0xC5110002) instead of raw CSI frames. Previously, the server broadcast these as raw edge_vitals but never generated a sensing_update, so the UI showed "connected" but "0 persons". Now synthesizes a full sensing_update from vitals data including classification, person count, and pose generation. Closes #321 Closes #323 Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): address review findings — idle busy-spin and observability - Fix pdMS_TO_TICKS(5)==0 at 100Hz causing busy-spin in idle path (use vTaskDelay(1) instead) - Post-batch yield now 2 ticks (20ms) for genuinely longer pause - Add s_ring_drops counter to ring_push for diagnosing frame drops - Expose drop count in periodic vitals log line Co-Authored-By: claude-flow <ruv@ruv.net> * fix(server): set breathing_band_power for skeleton animation from vitals When presence is detected via edge vitals, set breathing_band_power to 0.5 so the UI's torso breathing animation works. Previously hardcoded to 0.0 which made the skeleton appear static even when breathing rate was being reported. Co-Authored-By: claude-flow <ruv@ruv.net>
feat: ADR-063/064 mmWave sensor fusion + multimodal ambient intellige… …nce (#269) * docs: ADR-063 mmWave sensor fusion with WiFi CSI 60 GHz mmWave radar (Seeed MR60BHA2, HLK-LD2410/LD2450) fusion with WiFi CSI for dual-confirm fall detection, clinical-grade vitals, and self-calibrating CSI pipeline. Covers auto-detection, 6 supported sensors, Kalman fusion, extended 48-byte vitals packet, RuVector/RuvSense integration points, and 6-phase implementation plan. Based on live hardware capture from ESP32-C6 + MR60BHA2 on COM4. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(firmware): ADR-063 mmWave sensor fusion — full implementation Phase 1-2 of ADR-063: mmwave_sensor.c/h: - MR60BHA2 UART parser (60 GHz: HR, BR, presence, distance) - LD2410 UART parser (24 GHz: presence, distance) - Auto-detection: probes UART for known frame headers at boot - Mock generator for QEMU testing (synthetic HR 72±2, BR 16±1) - Capability flag registration per sensor type edge_processing.c/h: - 48-byte fused vitals packet (magic 0xC5110004) - Kalman-style fusion: mmWave 80% + CSI 20% when both available - Automatic fallback to CSI-only 32-byte packet when no mmWave - Dual presence flag (Bit3 = mmwave_present) main.c: - mmwave_sensor_init() called at boot with auto-detect - Status logged in startup banner Fuzz stubs updated for mmwave_sensor API. Build verified: QEMU mock build passes. Co-Authored-By: claude-flow <ruv@ruv.net> * fix(firmware): correct MR60BHA2 + LD2410 UART protocols (ADR-063) MR60BHA2: SOF=0x01 (not 0x5359), XOR+NOT checksums on header and data, frame types 0x0A14 (BR), 0x0A15 (HR), 0x0A16 (distance), 0x0F09 (presence). Based on Seeed Arduino library research. LD2410: 256000 baud (not 115200), 0xAA report head marker, target state byte at offset 2 (after data_type + head_marker). Auto-detect: probes MR60 at 115200 first, then LD2410 at 256000. Sets final baud rate after detection. Co-Authored-By: claude-flow <ruv@ruv.net> * feat: ADR-063 Phase 6 server-side mmWave + CSI fusion bridge Python script reads both serial ports simultaneously: - COM4 (ESP32-C6 + MR60BHA2): parses ESPHome debug output for HR, BR, presence, distance - COM7 (ESP32-S3): reads CSI edge processing frames Kalman-style fusion: mmWave 80% + CSI 20% for vitals, OR gate for presence. Verified on real hardware: mmWave HR=75bpm, BR=25/min at 52cm range, CSI frames flowing concurrently. Both sensors live for 30 seconds. Co-Authored-By: claude-flow <ruv@ruv.net> * docs: ADR-064 multimodal ambient intelligence roadmap 25+ applications across 4 tiers from practical to exotic: - Tier 1 (build now): zero-FP fall detection, sleep monitoring, occupancy HVAC, baby breathing, bathroom safety - Tier 2 (research): gait analysis, stress detection, gesture control, respiratory screening, multi-room activity - Tier 3 (frontier): cardiac arrhythmia, RF tomography, sign language, cognitive load, swarm sensing - Tier 4 (exotic): emotion contagion, lucid dreaming, plant monitoring, pet behavior Priority matrix with effort estimates. All P0-P1 items work with existing hardware (ESP32-S3 + MR60BHA2 + BH1750). Co-Authored-By: claude-flow <ruv@ruv.net> * fix(ci): add ESP_ERR_NOT_FOUND to fuzz stubs mmwave_sensor stub returns ESP_ERR_NOT_FOUND which wasn't defined in the minimal esp_stubs.h for host-based fuzz testing. Co-Authored-By: claude-flow <ruv@ruv.net>
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