Merge pull request #2246 from ruvnet/codex/sensing-release-20261012

fix(calibration): finish failed sessions and reconcile decision diagnostics
Merge pull request #2247 from ruvnet/codex/firmware-release-20261012
2026-10-19 21:30:06 -05:00 · 2026-10-12 09:27:10 -07:00 · 2026-10-12 09:17:31 -07:00 · 2026-10-12 11:48:38 -04:00 · 2026-10-12 11:43:04 -04:00 · 2026-10-12 11:39:41 -04:00
388 changed files with 54662 additions and 2073 deletions
@@ -10,6 +10,11 @@
      "name": "ruview",
      "source": "./plugins/ruview",
      "description": "End-to-end RuView toolkit: getting started, ESP32 hardware setup, configuration, sensing applications (presence / vitals / pose / sleep / MAT), camera-free + camera-supervised model training, advanced multistatic sensing, CLI / API / WASM, mmWave radar, and witness verification"
+    },
+    {
+      "name": "ruview-live",
+      "source": "./harness/ruview/mod",
+      "description": "Claude Code mod: /ruview opens a live pane with your CSI nodes (ESP32, Realtek) and ESPHome radar (presence, distance, device-reported vitals), refreshed on a timer, plus a one-line status. Read-only; ships inside @ruvnet/ruview. Mods are early access (CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1)."
    }
  ]
 }
@@ -135,6 +135,10 @@ async function runProcess(command, args, {
        resolve(result);
      });
    });
+    // A child that never reads stdin (e.g. `git check-ignore`) may exit and
+    // close the pipe before this write flushes; the resulting EPIPE is not a
+    // failure of the command, whose real outcome the 'close' handler reports.
+    child.stdin.on('error', () => {});
    child.stdin.end(input);
  });
 }
@@ -0,0 +1,43 @@
+name: BFI Research Tools
+
+on:
+  pull_request:
+    paths:
+      - 'tools/bfi/**'
+      - 'tools/bfi_learning/**'
+      - '.github/workflows/bfi-research.yml'
+  push:
+    branches: [main]
+    paths:
+      - 'tools/bfi/**'
+      - 'tools/bfi_learning/**'
+      - '.github/workflows/bfi-research.yml'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: bfi-research-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  offline-tests:
+    name: BFI offline tests (Linux, CPU)
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262
+        with:
+          persist-credentials: false
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.13'
+      - name: Install numeric test dependencies
+        run: python -m pip install numpy==2.4.2 scipy==1.17.1
+      - name: Install CPU PyTorch
+        run: python -m pip install torch==2.11.0 --index-url https://download.pytorch.org/whl/cpu
+      - name: Test capture parsing and bounded runners
+        run: python -B -m unittest discover -s tools/bfi -v
+      - name: Test offline learning and data admission
+        run: python -B -m unittest discover -s tools/bfi_learning -v
@@ -293,7 +293,7 @@ jobs:
        done

    - name: Update deployment status
-      uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3
+      uses: actions/github-script@f28e40c7f34bde8b3046d885e986cb6290c5673b
      with:
        script: |
          const deployEnv = '${{ needs.pre-deployment.outputs.deploy_env }}';
@@ -344,7 +344,7 @@ jobs:

    - name: Create deployment issue on failure
      if: needs.deploy-production.result == 'failure'
-      uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3
+      uses: actions/github-script@f28e40c7f34bde8b3046d885e986cb6290c5673b
      with:
        script: |
          github.rest.issues.create({
@@ -204,7 +204,10 @@ jobs:
        node-version: '22'

    - name: Run UI unit tests
-      run: node --test ui/sw.test.mjs ui/services/ws-ticket.test.mjs ui/services/websocket.service.test.mjs v2/crates/wifi-densepose-desktop/ui/build-config.test.mjs
+      run: node --test ui/sw.test.mjs ui/services/ws-ticket.test.mjs ui/services/websocket.service.test.mjs ui/services/sensing.service.test.mjs ui/components/DashboardTab.test.mjs v2/crates/wifi-densepose-desktop/ui/build-config.test.mjs
+
+    - name: Run virtual-view adapter boundary tests
+      run: node --test integrations/virtual-view/adapter.test.mjs

  # Unit and Integration Tests
  # Python pytest matrix — runs against the archived v1 Python tree.
@@ -16,6 +16,17 @@ on:
      - '.github/workflows/firmware-ci.yml'

 jobs:
+  provisioning-tests:
+    name: Provisioning tooling tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.11'
+      - name: Verify provisioning and secret handling without hardware
+        run: python -m unittest discover -s firmware/esp32-csi-node/tests -p 'test_provision*.py' -v
+
  version-guard:
    name: Verify version.txt matches release tag
    runs-on: ubuntu-latest
@@ -119,6 +130,10 @@ jobs:
          fi
          echo "Binary size OK: $SIZE <= $MAX"

+      - name: Verify built application version before packaging
+        working-directory: firmware/esp32-csi-node
+        run: python test/test_delivery_contract.py --built-app build/esp32-csi-node.bin
+
      - name: Verify flash image integrity
        working-directory: firmware/esp32-csi-node
        run: |
@@ -204,3 +219,40 @@ jobs:
          idf.py build
          test "$(stat -c%s build/esp32-csi-node.bin)" -le $((1152 * 1024))
          strings build/esp32-csi-node.bin | grep -F "external U.FL"
+
+  publish-release-assets:
+    name: Publish firmware release assets
+    if: github.ref_type == 'tag'
+    needs: [version-guard, provisioning-tests, build, build-c6-idf6]
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Download the exact-run firmware artifacts
+        uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093
+        with:
+          pattern: esp32-csi-node-firmware-*
+          path: release-downloads
+
+      - name: Package variants without filename collisions
+        run: |
+          mkdir -p release-assets
+          for directory in release-downloads/esp32-csi-node-firmware-*; do
+            variant="${directory##*/}"
+            tar -C "$directory" -czf "release-assets/${variant}.tar.gz" .
+          done
+          (cd release-assets && sha256sum *.tar.gz > SHA256SUMS.txt)
+
+      - name: Publish the downloadable firmware bundles
+        uses: softprops/action-gh-release@3bb12739c298aeb8a4eeaf626c5b8d85266b0e65
+        with:
+          name: ESP32 firmware ${{ github.ref_name }}
+          prerelease: true
+          make_latest: false
+          body: |
+            Exact-run ESP32-S3 display 8 MB, ESP32-S3 headless 4 MB, and ESP32-C6 4 MB firmware bundles.
+            Verify each archive against `SHA256SUMS.txt` before flashing.
+            CI builds and host tests verify software behavior, not target hardware.
+            This prerelease has no new physical-board qualification or sensing-accuracy claim.
+            Select the matching board configuration using firmware/esp32-csi-node/README.md.
+          files: release-assets/*
@@ -41,8 +41,12 @@ jobs:
            build: false
            publishable: true
            # ADR-283/325: brain + local hosts + replay assets + guarded Spaces OAuth adapter;
-            # still runtime-dependency-free. 160 KiB is the reviewed hard ceiling.
-            unpacked_budget: 163840
+            # still runtime-dependency-free. ADR-369..374 add the SDK, firmware
+            # flashing, training runner/gate, doctor, device access, and SSH
+            # hosts. ADR-375 adds the MCP Apps console widget (~12 KB), the
+            # Streamable HTTP transport and the terminal UI (384 KiB); ADR-378 the
+            # ruview-live showcase views (~37 KB): 448 KiB reviewed ceiling.
+            unpacked_budget: 458752
          - dir: harness/homecore
            build: false
            publishable: true
@@ -131,13 +135,19 @@ jobs:
          npm i --no-fund --no-audit "$TGZ"
          case "${{ matrix.package.dir }}" in
            harness/ruview)
-              ./node_modules/.bin/ruview --version
-              ./node_modules/.bin/ruview doctor
+              ./node_modules/.bin/ruview-harness --version
+              ./node_modules/.bin/ruview-harness doctor
              # the honesty gate must fail closed on empty input (ADR-263 F1)
-              if ./node_modules/.bin/ruview claim-check; then
+              if ./node_modules/.bin/ruview-harness claim-check; then
                echo 'claim-check passed with no input — fail-open regression'; exit 1
              fi
              node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"
+              # ADR-369: the typed SDK resolves and the evidence gate refuses a baseline-free score
+              node --input-type=module -e "const { createRuView } = await import('@ruvnet/ruview/sdk'); const r = createRuView(); if (r.tools().length < 22) process.exit(1); const g = await r.training.gate({ model_score: 0.93 }); if (g.verdict !== 'FAIL') process.exit(1);"
+              ./node_modules/.bin/ruview-harness doctor --json --group runtime,harness,firmware > doctor.json
+              if ./node_modules/.bin/ruview-harness train-gate --model-score 0.93 > /dev/null; then
+                echo 'train-gate passed without a baseline'; exit 1
+              fi
              ;;
            harness/homecore)
              ./node_modules/.bin/homecore --version
@@ -0,0 +1,44 @@
+name: README visual asset validation
+
+on:
+  pull_request:
+    paths:
+      - 'README.md'
+      - 'assets/readme/**'
+      - 'docs/readme-visual-system.md'
+      - 'scripts/*readme*'
+      - 'scripts/tests/test_readme_visuals_xml.py'
+      - '.github/workflows/readme-visuals.yml'
+  push:
+    branches: [main]
+    paths:
+      - 'README.md'
+      - 'assets/readme/**'
+      - 'docs/readme-visual-system.md'
+      - 'scripts/*readme*'
+      - 'scripts/tests/test_readme_visuals_xml.py'
+      - '.github/workflows/readme-visuals.yml'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  verify:
+    name: Safe and reproducible README visuals
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.11'
+      - name: Install visual tooling dependency
+        run: python -m pip install -r scripts/requirements-readme-visuals.txt
+      - name: Test XML input boundaries
+        run: python -m unittest discover -s scripts/tests -p test_readme_visuals_xml.py
+      - name: Verify reproducible and accessible assets
+        run: |
+          python scripts/render-readme-visuals.py
+          python scripts/verify-readme-visuals.py
+          git diff --exit-code -- assets/readme
+          test -z "$(git ls-files --others --exclude-standard -- assets/readme)"
@@ -0,0 +1,68 @@
+# ADR-373/374 — device-access end-to-end through the real @ruvnet/ruview CLI.
+# MR60BHA2 (60 GHz) and RPLIDAR are emulated on pseudo-terminals and read via
+# real pyserial; an ESP32 node is emulated over UDP; the iPhone LiDAR path
+# uses the repository's real relay. All results are SYNTHETIC: this proves
+# the transports and parsers, not hardware behaviour.
+
+name: ruview device e2e
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'harness/ruview/src/**'
+      - 'harness/ruview/bin/**'
+      - 'harness/ruview/test/e2e/**'
+      - 'integrations/iphone-lidar/web/**'
+      - '.github/workflows/ruview-device-e2e.yml'
+  pull_request:
+    paths:
+      - 'harness/ruview/src/**'
+      - 'harness/ruview/bin/**'
+      - 'harness/ruview/test/e2e/**'
+      - 'integrations/iphone-lidar/web/**'
+      - '.github/workflows/ruview-device-e2e.yml'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ruview-device-e2e-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  devices:
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          persist-credentials: false
+
+      - uses: actions/setup-node@820762786026740c76f36085b0efc47a31fe5020 # v7.0.0
+        with:
+          node-version: '22'
+
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.12'
+
+      - name: Install pyserial
+        run: python -m pip install pyserial==3.5
+
+      - name: Install the iPhone LiDAR relay
+        working-directory: integrations/iphone-lidar/web
+        run: npm ci --ignore-scripts
+
+      - name: Install harness
+        working-directory: harness/ruview
+        run: npm ci --ignore-scripts
+
+      # Missing prerequisites fail instead of skipping (RUVIEW_E2E_REQUIRE).
+      # The suite links each emulator pty to /dev/ttyRUVIEWE2E<n> with
+      # `sudo -n`, because the harness refuses /dev/pts/* port names.
+      - name: Device e2e (SYNTHETIC devices)
+        working-directory: harness/ruview
+        env:
+          RUVIEW_E2E_REQUIRE: '1'
+        run: npm run test:e2e:devices
@@ -0,0 +1,132 @@
+# ADR-368 — @ruvnet/ruview-kernel: build the WASM and napi-rs transports from
+# source on every OS, run the Rust ABI tests, the package unit/security/e2e
+# tests with the native addon REQUIRED, the wasm↔napi parity check, artifact
+# verification, and the cross-package e2e through the @ruvnet/ruview
+# metaharness. No publish step: publication stays CI-only via the release
+# workflow and requires explicit maintainer approval (ADR-265).
+
+name: ruview-kernel npm
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'v2/crates/ruview-kernel/**'
+      - 'v2/crates/ruview-kernel-napi/**'
+      - 'v2/crates/wifi-densepose-vitals/**'
+      - 'harness/ruview-kernel/**'
+      - 'harness/ruview/src/kernel.js'
+      - 'harness/ruview/test/kernel.test.mjs'
+      - '.github/workflows/ruview-kernel-npm.yml'
+  pull_request:
+    paths:
+      - 'v2/crates/ruview-kernel/**'
+      - 'v2/crates/ruview-kernel-napi/**'
+      - 'v2/crates/wifi-densepose-vitals/**'
+      - 'harness/ruview-kernel/**'
+      - 'harness/ruview/src/kernel.js'
+      - 'harness/ruview/test/kernel.test.mjs'
+      - '.github/workflows/ruview-kernel-npm.yml'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ruview-kernel-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  kernel:
+    name: kernel (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 45
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    defaults:
+      run:
+        shell: bash
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          persist-credentials: false
+          # The v2 workspace lists submodule crates as members; cargo must be
+          # able to load every member manifest.
+          submodules: recursive
+
+      - name: Install Rust + wasm32 target
+        uses: dtolnay/rust-toolchain@4cda84d5c5c54efe2404f9d843567869ab1699d4
+        with:
+          targets: wasm32-unknown-unknown
+
+      # v2/rust-toolchain pins its own channel; the target must be installed
+      # for that toolchain, not only for the action's default `stable`.
+      - name: Add wasm32 target to the pinned v2 toolchain
+        working-directory: v2
+        run: rustup target add wasm32-unknown-unknown
+
+      - name: Cache cargo
+        uses: Swatinem/rust-cache@e18b497796c12c097a38f9edb9d0641fb99eee32
+        with:
+          workspaces: |
+            v2 -> target
+            v2/crates/ruview-kernel-napi -> target
+
+      - uses: actions/setup-node@820762786026740c76f36085b0efc47a31fe5020 # v7.0.0
+        with:
+          node-version: '22'
+
+      - name: Rust ABI tests
+        run: cargo test --manifest-path v2/Cargo.toml -p ruview-kernel --locked
+
+      - name: Build WASM + napi-rs artifacts from source
+        working-directory: harness/ruview-kernel
+        run: npm run build
+
+      - name: Verify artifacts (checksums, zero WASM imports, ABI)
+        working-directory: harness/ruview-kernel
+        run: node scripts/verify-artifacts.mjs --require-wasm
+
+      - name: Package tests (napi required)
+        working-directory: harness/ruview-kernel
+        env:
+          RUVIEW_KERNEL_REQUIRE_NAPI: '1'
+        run: npm test
+
+      - name: Doctor, self-test, and wasm↔napi parity (SYNTHETIC)
+        working-directory: harness/ruview-kernel
+        run: |
+          node bin/cli.js doctor --strict-napi
+          node bin/cli.js selftest --backend wasm
+          node bin/cli.js selftest --backend napi
+          node bin/cli.js parity
+
+      - name: Pack
+        working-directory: harness/ruview-kernel
+        run: |
+          npm pack --dry-run
+          # Relative destination: Windows runner temp paths contain
+          # backslashes that bash globbing would mangle.
+          mkdir -p dist-pack
+          npm pack --pack-destination dist-pack
+
+      - name: Cross-package e2e through the @ruvnet/ruview metaharness
+        working-directory: harness/ruview
+        run: |
+          npm ci --ignore-scripts
+          npm install --no-save --ignore-scripts ../ruview-kernel/dist-pack/ruvnet-ruview-kernel-*.tgz
+          node --test test/kernel.test.mjs
+          node bin/cli.js kernel --backend auto
+
+      - name: Upload built artifacts
+        if: matrix.os == 'ubuntu-latest'
+        uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1
+        with:
+          name: ruview-kernel-linux-x64
+          path: |
+            harness/ruview-kernel/wasm/ruview_kernel.wasm
+            harness/ruview-kernel/wasm/SHA256SUMS
+            harness/ruview-kernel/native/*.node
+            harness/ruview-kernel/native/SHA256SUMS
+          retention-days: 14
@@ -104,8 +104,10 @@ jobs:
        run: |
          set -euo pipefail
          case "${{ inputs.package }}" in
-            # ADR-283/325: brain + hosts + replay + guarded Spaces OAuth; no runtime deps.
-            harness/ruview) export UNPACKED_BUDGET=163840 ;;
+            # ADR-283/325/369-374: brain + hosts + replay + Spaces OAuth + SDK,
+            # flashing, training, doctor, device access, SSH hosts; ADR-375 console
+            # widget, HTTP transport, terminal UI; ADR-378 mod showcase; no runtime deps.
+            harness/ruview) export UNPACKED_BUDGET=458752 ;;
            # ADR-285: CLI + MCP + reviewed brain + WASM-kernel adapter.
            harness/homecore) export UNPACKED_BUDGET=180000 ;;
            # ADR-264 O2: map-free tarball (was 188 kB with maps).
@@ -140,12 +142,12 @@ jobs:
          npm i --no-fund --no-audit "$TGZ"
          case "${{ inputs.package }}" in
            harness/ruview)
-              ./node_modules/.bin/ruview --version
-              ./node_modules/.bin/ruview doctor
-              ./node_modules/.bin/ruview guidance --topic homecore --query restore --limit 1 \
+              ./node_modules/.bin/ruview-harness --version
+              ./node_modules/.bin/ruview-harness doctor
+              ./node_modules/.bin/ruview-harness guidance --topic homecore --query restore --limit 1 \
                | grep -q '"homecore-runtime-restore"'
              # the honesty gate must fail closed on empty input (ADR-263 F1)
-              if ./node_modules/.bin/ruview claim-check; then
+              if ./node_modules/.bin/ruview-harness claim-check; then
                echo 'claim-check passed with no input — fail-open regression'; exit 1
              fi
              node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"
@@ -460,7 +460,7 @@ jobs:
    - name: Create security issue on critical findings
      continue-on-error: true
      if: needs.sast.result == 'failure' || needs.dependency-scan.result == 'failure'
-      uses: actions/github-script@f28e40c7f34bde8b3046d885e986cb6290c5673b # v6
+      uses: actions/github-script@00f12e3e20659f42342b1c0226afda7f7c042325 # v6
      with:
        script: |
          github.rest.issues.create({
@@ -322,3 +322,6 @@ v2/crates/ruview-offaxis/pkg/
 scripts/fal-visual-teacher/training-data/
 scripts/fal-visual-teacher/training-data.zip
 scripts/fal-visual-teacher/output/
+
+# Trained adaptive classifier (auto-created at runtime; #2135)
+/v2/data/adaptive_model.json
@@ -7,8 +7,29 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

 ## [Unreleased]

+### Community batch (PRs #2100-#2157 by aepod, reviewed and integrated)
+
+Integrated as one set: conflicts resolved, review findings fixed, validated on the integrated branch. Hardware figures cited by the PRs are the author's own live runs on ESP32-S3 nodes and were not independently reproduced here.
+
+- **Security and honest status.** Refuse a routable HTTP bind when API auth is off (#2134). `--privacy-mode` now strips biometrics from REST, WebSocket and recordings, not only MQTT (#2125; the stripped-key list is an exact-match allowlist, so a new biometric field must be added to it). `/api/v1/status` waits for a real frame and unknown `--source` values are rejected (#2126; breaking for `--source macos|linux|windows`). A stale `/sensing/latest` reports `{"status":"stale"}` after 10 s (#2119). Measured stream fps and real WebSocket client counts (#2127). Absent nodes no longer count as one person (#2132). ESP32 frames with zero antennas or subcarriers are dropped (#2118). Dead nodes are evicted on a timer (#2120). Recordings and models stay under `--data-dir` (#2129). Boolean env flags accept 1/0/yes/no/on/off (#2108). Docker UDP ingest posture is explicit (#2107).
+- **CSI pipeline.** The grid gate locks on the majority frame shape and `/health` reports a stalled pipeline (#2157; a partial fix, mixed 192/306 frame shapes still drop frames, so it does not close #1894). Phase is combined across nodes only when they declare a shared reference (#2156). Point-cloud and hardware parsers use the ADR-018 layout and accept more than 256 subcarriers (#2155; the bandwidth rule for counts above 64 is CLAIMED, inferred from the datasheet). Per-node adaptive training from real recordings (#2101, #2103); a run that fell back to the live buffer now reports `degraded: true`. Gaussian decay no longer compounds across calls (#2140).
+- **MediaTek (ADR-266/267).** Legacy and unknown PPDU types in MTC1 (#2112), per-device ingest capped at 64 devices (#2113), a labelled amplitude heuristic and activity index (#2114; CLAIMED, not an occupancy estimate), an MT7981 bridge (#2115), and the OpenWrt WN586X3 patch set and guide (#2116; the vendored CSI patch is BSD-3-Clause-Clear, see `NOTICE`).
+- **MQTT / Home Assistant.** Semantic states wired into the publisher, entities announced only when sourced, persisted client id (#2117). Existing Home Assistant installs keep retained discovery configs for the six removed entities until they are cleared manually.
+- **Provisioning and firmware.** Wi-Fi password kept owner-only and out of argv and `--state` (#2153); state keyed by board MAC (#2152); `--dry-run` and a failed `--reset` leave state intact (#2111); OTA images confirmed by a bounded health check, which means only "reached the network and sent CSI" (#2100, ADR-379).
+- **Ground truth and spatial.** Radar window adapter and auto-labeller with a session-disjoint split and a median count baseline; radar labels carry `evidence: CLAIMED` (#2143, #2144). Node self-survey, check-only (#2145, ADR-381). The `spatial.evidence.v1` export defaults to the CODE proof grade and MEASURED requires a reproducer (#2141, ADR-382). Loopback UDP tee (#2102, ADR-380).
+- **Tooling.** `prove.sh` reports INCOMPLETE instead of PASS when a gate is skipped (#2130); ADR-018 capture scripts (#2131); API token on the ground-truth script (#2104); the UI asks for the API token instead of retrying forever (#2128); macOS redacted-link handling (#2105).
+- **Not included:** #2106 (MacWifi.app, draft) and #2142 (MR60 probe change, needs a captured MR60BHA2 boot log). `v2/data/adaptive_model.json` (41.5% training accuracy) is no longer tracked (#2135).
+
 ### Added

+- **`@ruvnet/ruview` 0.9.1: live sensing views inside Claude Code (ADR-377, ADR-378).** The package now ships `ruview-live`, a Claude Code mod. Type `/ruview` and a pane opens next to the conversation showing what your sensors see right now, refreshed automatically. It has three views, switched with keys `1` `2` `3` or with `/ruview overview|waterfall|radar`:
+  - **Overview**: the CSI nodes streaming to your machine (rate, packet loss, signal strength) and an optional 60 GHz radar kit (presence, distance, heart and breathing rates).
+  - **CSI waterfall**: the Wi-Fi signal itself, the strength of every subcarrier over time, drawn in colour and scrolling as frames arrive. The new `ruview esp32 --spectrum` option supplies the data.
+  - **Radar**: a top-down range fan with an animated ping out to the measured distance, plus heart, breathing and distance charts.
+
+  Every reading is labelled honestly: MEASURED or SYNTHETIC from the packets themselves; radar vitals as "device-reported, not validated"; range-only radar as "distance, not direction". The pane only reads; it never flashes or configures a device.
+
+  Verified on real hardware: an ESP32-C6 streaming CSI and a Seeed MR60BHA2 radar kit (MEASURED; reproducer `npx @ruvnet/ruview esp32 --seconds 4 --spectrum --json`). The package's size ceiling rises from 384 KiB to 448 KiB; it still has no runtime dependencies.
 - **`wifi-densepose-sar` — coherent wideband RF tomography research crate (ADR-287).** New standalone leaf crate (the `nvsim` pattern; zero coupling to `wifi-densepose-hardware` or any real ingestion path) implementing the synthetic-aperture-radar reconstruction primitive a handheld through-wall RF imaging device would need — motivated by comparison against Applied Electrodynamics' "WaveSight" launch, and explicitly scoped below ADR-278's RISE/DiffRadar/GeRaF reproduction gates. Ships: (1) a stepped-frequency, multi-position complex forward measurement simulator (`y_{m,k} = Σ σ_j/R² · exp(-i·4π·f·R/c) + noise`, deterministic ChaCha20 seeding); (2) delay-and-sum backprojection reconstruction onto a 3D voxel grid, rayon-parallelized over voxels; (3) threshold + local-maximum point-cloud extraction; (4) closed-form range/cross-range resolution and antenna-pose coherence-budget formulas (`ΔR=c/2B`, `δ_CR≈λR/2L`, `Δp≤λ/8`) checked against the reconstruction's *actual* behavior in `tests/physics_validation.rs` rather than merely documented — forward-simulating two targets at controlled separations and proving they resolve or merge exactly where the formulas predict, and that reconstructed focus at a known target degrades as injected antenna-pose error grows. Every number is SYNTHETIC/L0 (ADR-282) — no real wideband RF hardware backs this crate; see the crate README and `docs/tutorials/coherent-rf-tomography-backprojection.md` for the full honesty boundary and a worked walkthrough. `focus_at_point` exploits the evenly-spaced-by-construction frequency sweep (an arithmetic progression in per-term phase) to evaluate each pose's phasor once and advance it by a fixed complex-multiply step per frequency instead of one `sin`/`cos` pair per frequency — **MEASURED ~4.4-4.5x faster** (criterion regression detection, p < 0.001) than the first-shipped direct-computation version, proven equivalent (not just faster) to an independently reimplemented reference across four sweep sizes and on-/off-target points. 25 tests (22 unit + 3 integration), 0 failed, clippy-clean; MEASURED backprojection throughput ~1.7-2.3M voxels/sec (criterion, 21 poses × 32 freq steps).
 - **HOMECORE platform runtime completion — secure native/Wasmtime plugins, authenticated HAP IP, expanded Home Assistant APIs, durable restoration/migration, and voice protocols.** `homecore-server` now owns deterministic compiled-in native plugin registration plus explicitly configured, path-bounded, Ed25519 publisher-verified Wasm packages executed through Wasmtime with setup/state-change/teardown lifecycle; arbitrary native dynamic libraries remain intentionally unsupported. The optional HAP server implements persisted accessory identity and controller records, SRP-6a Pair-Setup M1–M6, X25519/Ed25519 Pair-Verify M1–M4, HKDF-SHA512/ChaCha20-Poly1305 record framing, authenticated/admin endpoint gates, replay/tamper closure, live entity synchronization, and paired-state `_hap._tcp` mDNS updates (45 focused tests; external Apple certification is not claimed). Startup restores device/entity registries and deterministic latest recorder states before plugins, and migration now atomically preserves forward-compatible device/config-entry fields. The HA-compatible surface adds events, templates, config checks, components, registries, history/logbook with SQL-enforced global response bounds, calendar/camera provider routes, and modern WebSocket negotiation while retaining a machine-readable limitations matrix for integration-specific behavior. Assist adds bounded PCM16, async STT/TTS contracts, an end-to-end speech pipeline, and an authenticated satellite session protocol; real deployments still provide the speech engines.
 - **`ruview-unified` increment 3 — Gaussian update-loop completion, separable delay-Doppler, and property-tested boundary hardening.** (1) `GaussianMap::merge_overlapping` (ADR-275 step 5: mutual-Mahalanobis + semantic-compatibility dedup catching drift the insert-time gate misses) and lifetime-aware decay (`τ_eff = τ·(1+ln(1+lifetime/τ))` — confirmed structures outlive transients at equal nominal τ). (2) `delay_doppler_map` reimplemented separably (`O(B²S+S²B)`), proven equivalent to the direct reference to <1e-10 and **measured 8.3× faster** (520 µs vs 4.34 ms at 56×8). (3) `tests/security_boundaries.rs` — 8 `proptest` properties over the boundary surfaces (arbitrary values incl. NaN/±inf via `f64::from_bits`) that found and fixed three input-controlled defects: a BLE-CS phase-unwrap infinite loop on non-finite phases and an ~1e299-iteration loop on finite-huge phases (now O(1) modular unwrap + plausibility bound), and a subnormal Gaussian scale overflowing `1/σ²` to NaN density (now physical σ/occupancy bounds). (4) New criterion benches for all increment-2 hot paths (`to_canonical` 38 µs, `ble_cs_range` 481 ns, AoI planner 647 ns/200 regions, coherent fusion 1.5 µs/32 members, factorized pose 521 ns). ruview-unified now 98 tests (87 lib + 3 acceptance + 8 security), 0 failed, clippy-clean.
@@ -0,0 +1,22 @@
+RuView third-party notices
+
+This repository is licensed MIT OR Apache-2.0 (see LICENSE). The items below
+are vendored third-party material that keeps its own licence and is not
+covered by that dual licence.
+
+firmware/openwrt-wn586x3/patches/1001-mtk-mt76-mt7915-csi-implement-csi-support-REBASED.patch
+  What:     MediaTek's mt76 mt7915 CSI patch, rebased onto openwrt/mt76
+            eb567bc7 (the revision pinned by OpenWrt 24.10.8).
+  Author:   Bo Jiao <Bo.Jiao@mediatek.com> (original author line kept in the
+            patch header); copyright MediaTek Inc.
+  Origin:   mediatek/mtk-openwrt-feeds @ a15454c888f4f4144c50e33b5feef4f247c5f78b
+  Licence:  BSD-3-Clause-Clear (SPDX identifier,
+            https://spdx.org/licenses/BSD-3-Clause-Clear.html). The patch
+            carries the SPDX tags and MediaTek copyright lines in its added
+            files; the licence text is not reproduced here.
+  Scope:    A vendored patch applied to an OpenWrt/mt76 build. It is not part
+            of the Rust crates, is not compiled by the Cargo workspace, and is
+            not linked into any RuView binary.
+
+See firmware/openwrt-wn586x3/README.md for the other patches in that
+directory and the licence each one keeps.
@@ -1,11 +1,37 @@
 # π RuView

+[![RuView: spaces become signals, with an animated conceptual RF field](assets/readme/hero.svg)](docs/user-guide.md)
+
+<table>
+<tr>
+<td align="center" width="33%"><a href="docs/user-guide.md"><img src="assets/readme/nav-start.svg" width="180" alt="Start here" /></a><br/><a href="docs/user-guide.md">Start here</a></td>
+<td align="center" width="33%"><a href="firmware/esp32-csi-node/README.md"><img src="assets/readme/nav-hardware.svg" width="180" alt="Hardware" /></a><br/><a href="firmware/esp32-csi-node/README.md">Hardware</a></td>
+<td align="center" width="33%"><a href="https://huggingface.co/ruvnet/wifi-densepose-pretrained"><img src="assets/readme/nav-models.svg" width="180" alt="Models" /></a><br/><a href="https://huggingface.co/ruvnet/wifi-densepose-pretrained">Models</a></td>
+</tr>
+<tr>
+<td align="center" width="33%"><a href="harness/ruview/README.md"><img src="assets/readme/nav-agents.svg" width="180" alt="AI toolkit" /></a><br/><a href="harness/ruview/README.md">AI toolkit</a></td>
+<td align="center" width="33%"><a href="docs/integrations/home-assistant.md"><img src="assets/readme/nav-home.svg" width="180" alt="Smart home" /></a><br/><a href="docs/integrations/home-assistant.md">Smart home</a></td>
+<td align="center" width="33%"><a href="https://cognitum.one/seed"><img src="assets/readme/nav-seed.svg" width="180" alt="Cognitum Seed" /></a><br/><a href="https://cognitum.one/seed">Cognitum Seed</a></td>
+</tr>
+</table>
+
+<details>
+<summary>Watch the original RuView sensing demo</summary>
+
 <p align="center">
  <a href="https://cognitum.one/seed">
    <img src="assets/ruview-hero-h3-v3.gif" alt="RuView - WiFi DensePose — animated visualization of real-time pose estimation, breathing, and heart-rate sensing through WiFi" width="100%">
  </a>
 </p>

+</details>
+
+<p align="center">
+  <a href="https://ruos.cognitum.one">
+    <img src="assets/ruos-animated.svg" alt="RuView — WiFi becomes spatial awareness, with Ruflo coordination and a ruOS sensing workspace" width="100%">
+  </a>
+</p>
+

 ## **See through walls with WiFi** ##

@@ -21,6 +47,8 @@ Works natively with the four major smart-home ecosystems: **[Home Assistant](doc

 Every WiFi router already fills your space with radio waves. When people move, breathe, or even sit still, they disturb those waves in measurable ways. RuView captures these disturbances using Channel State Information (CSI) from low-cost ESP32 sensors and turns them into actionable data: who's there, what they're doing, and whether they're okay.

+[![Explore RuView sensing, models and automation](assets/readme/header-features.svg)](docs/user-guide.md)
+
 **What it senses:**
 - **Presence and occupancy** — detect people through walls, count them, track entries and exits
 - **Vital signs** — breathing rate and heart rate, contactless, while sleeping or sitting
@@ -37,32 +65,75 @@ Every WiFi router already fills your space with radio waves. When people move, b
 - **Governed evidence** — attach privacy policy, uncertainty, provenance, and witness records to sensing events
 - **RuView MetaHarness** — use an AI operator to onboard, calibrate, train, verify, and check sensing claims

+<!-- ruview-capability-cards -->
+<table>
+<tr>
+<td width="50%"><a href="docs/user-guide.md"><img src="assets/readme/feature-presence.svg" width="580" alt="Presence and motion: open documentation and current limitations" /></a><br/><a href="docs/user-guide.md">Presence and motion</a></td>
+<td width="50%"><a href="v2/crates/wifi-densepose-signal/README.md"><img src="assets/readme/feature-vitals.svg" width="580" alt="Breathing and vital signals: open documentation and current limitations" /></a><br/><a href="v2/crates/wifi-densepose-signal/README.md">Breathing and vital signals</a></td>
+</tr>
+<tr>
+<td width="50%"><a href="docs/benchmarks/pose-estimation-cog.md"><img src="assets/readme/feature-pose.svg" width="580" alt="Pose research and limitations: open documentation and current limitations" /></a><br/><a href="docs/benchmarks/pose-estimation-cog.md">Pose research and limitations</a></td>
+<td width="50%"><a href="firmware/esp32-csi-node/README.md"><img src="assets/readme/feature-edge.svg" width="580" alt="Edge sensor mesh: open documentation and current limitations" /></a><br/><a href="firmware/esp32-csi-node/README.md">Edge sensor mesh</a></td>
+</tr>
+<tr>
+<td width="50%"><a href="docs/integrations/home-assistant.md"><img src="assets/readme/feature-automation.svg" width="580" alt="Local automation: open documentation and current limitations" /></a><br/><a href="docs/integrations/home-assistant.md">Local automation</a></td>
+<td width="50%"><a href="harness/ruview/README.md"><img src="assets/readme/feature-agents.svg" width="580" alt="Guided AI operator: open documentation and current limitations" /></a><br/><a href="harness/ruview/README.md">Guided AI operator</a></td>
+</tr>
+</table>
+
 <details>
 <summary><strong>RuView MetaHarness</strong> — guided operation for humans and AI agents</summary>

-The RuView-specific metaharness we created is published as [`@ruvnet/ruview`](harness/ruview/README.md). It provides source-cited guidance, guarded Claude Code/Codex agents, deterministic verification, an honesty check for accuracy claims, and an explicitly granted OAuth-only Cognitum Spaces read.
+The RuView-specific metaharness we created is published as [`@ruvnet/ruview`](harness/ruview/README.md). It provides:
+- source-cited guidance;
+- device access for CSI nodes, radar and LiDAR;
+- firmware flashing with boot evidence;
+- one MCP server, usable over stdio or HTTP for ChatGPT, with a live console widget;
+- a Claude Code mod;
+- guarded Claude Code/Codex agents;
+- deterministic verification;
+- an honesty check for accuracy claims.
+
+Companion packages: [`homecore`](harness/homecore/README.md) (Homecore developer metaharness) and [`@ruvnet/ruview-kernel`](harness/ruview-kernel/README.md) (the vitals pipeline as WASM).

 ```bash
 # Check the local setup and get source-cited guidance
-npx @ruvnet/ruview@0.4.0 doctor
-npx @ruvnet/ruview@0.4.0 guidance --topic sensing --query "model loading"
+npx @ruvnet/ruview@0.9.1 doctor
+npx @ruvnet/ruview@0.9.1 guidance --topic sensing --query "model loading"
+
+# Hardware: what is plugged in, live CSI from your nodes, a 60 GHz radar kit
+npx @ruvnet/ruview@0.9.1 devices
+npx @ruvnet/ruview@0.9.1 esp32 --watch                       # ESP32 + Realtek RAC1 nodes, live view
+npx @ruvnet/ruview@0.9.1 esp32 --seconds 45 --analyze        # live CSI through the vitals kernel
+npx @ruvnet/ruview@0.9.1 mmwave --source esphome --host <kit-ip>
+
+# Agents: MCP over stdio, or over HTTP for ChatGPT (token-protected, read tools only)
+npx @ruvnet/ruview@0.9.1 mcp start
+RUVIEW_MCP_GRANTS=device-access npx @ruvnet/ruview@0.9.1 mcp start --http
+
+# Claude Code: a live sensing pane (/ruview), shipped in the package
+npx @ruvnet/ruview@0.9.1 mod

 # Run a read-only RuView agent through Codex
-npx @ruvnet/ruview@0.4.0 agent run --host codex --repo . \
+npx @ruvnet/ruview@0.9.1 agent run --host codex --repo . \
  --prompt "Find the nearest tests and cite the source files"

-# Search or verify the reviewed contributor brain
-npx @ruvnet/ruview@0.4.0 brain search --query "calibration"
-npx @ruvnet/ruview@0.4.0 brain verify --repo .
-
-# Check claims, replay the deterministic proof, or expose the MCP server
-npx @ruvnet/ruview@0.4.0 claim-check --file REPORT.md
-npx @ruvnet/ruview@0.4.0 verify
-npx @ruvnet/ruview@0.4.0 spaces
-npx @ruvnet/ruview@0.4.0 mcp start
+# Check claims, replay the deterministic proof, search the reviewed brain
+npx @ruvnet/ruview@0.9.1 claim-check --file REPORT.md
+npx @ruvnet/ruview@0.9.1 verify
+npx @ruvnet/ruview@0.9.1 brain search --query "calibration"
 ```

-Agent runs are read-only by default. Workspace writes require both `--allow-write` and `--confirm`; retrieved brain content is evidence, not authority.
+**Safety:**
+- Agent runs are read-only by default. Workspace writes require both `--allow-write` and `--confirm`.
+- Hardware reads need the `device-access` grant.
+- Flashing and calibration never run over the HTTP transport.
+- Device-reported vitals are labelled as unvalidated.
+- Retrieved brain content is evidence, not authority.
+
+A single `npx ruview` package bundling all of this is ready (ADR-376). It is waiting on npm to release the unscoped name.
+
+Full walkthrough: [user guide → RuView npm toolkit](docs/user-guide.md#ruview-npm-toolkit-ruvnetruview).

 </details>

@@ -114,8 +185,11 @@ RuView turns ordinary WiFi into a contactless sensor. A $9 ESP32 board reads the
 ```bash
 # Option 1: Docker (simulated data, no hardware needed)
 docker pull ruvnet/wifi-densepose:latest
-docker run -p 3000:3000 ruvnet/wifi-densepose:latest
+export RUVIEW_API_TOKEN=$(openssl rand -hex 32)   # required; the container exits 64 without it
+docker run -p 127.0.0.1:3000:3000 -e RUVIEW_API_TOKEN ruvnet/wifi-densepose:latest
 # Open http://localhost:3000
+# ESP32 nodes in Docker also need a UDP source guard (RUVIEW_UDP_ALLOW);
+# see docs/user-guide.md "Receiving ESP32 frames in Docker".

 # Option 2a: Live sensing with ESP32-S3 hardware ($9)
 # Flash firmware, provision WiFi, and start sensing:
@@ -227,6 +301,8 @@ The separate **17-keypoint pose-estimation model** is now published at [`ruvnet/

 ### Results & proof

+[![RuView visual guide: header-evidence](assets/readme/header-evidence.svg)](docs/benchmarks/pose-estimation-cog.md)
+
 See the measured benchmarks, witness records, and one-command reproducibility check.

 <details>
@@ -281,6 +357,8 @@ number. The path to a first *reproducible* on-device baseline (PCK@20 ≥ 35%) i

 ## 🧩 Edge Module Catalog

+[![RuView visual guide: header-edge](assets/readme/header-edge.svg)](firmware/esp32-csi-node/README.md)
+
 Add signed modules for health, security, buildings, industry, research, AI, and more.

 <details>
@@ -455,6 +533,8 @@ Browse and install modules at [seed.cognitum.one/store](https://seed.cognitum.on

 ## 🔬 How It Works

+[![RuView visual guide: overview](assets/readme/overview.svg)](docs/user-guide.md)
+
 WiFi routers flood every room with radio waves. When a person moves — or even breathes — those waves scatter differently. WiFi DensePose reads that scattering pattern and reconstructs what happened:

 ```
@@ -579,6 +659,8 @@ These scenarios exploit WiFi's ability to penetrate solid materials — concrete

 ## 🧠 Self-Learning WiFi AI

+[![RuView visual guide: header-learning](assets/readme/header-learning.svg)](docs/user-guide.md)
+
 Learn compact room fingerprints from raw CSI and adapt the model to each environment.

 <details>
@@ -694,7 +776,13 @@ claude --plugin-dir ./plugins/ruview

 Verify the plugin structure: `bash plugins/ruview/scripts/smoke.sh`. Full details: [`plugins/ruview/README.md`](plugins/ruview/README.md).

-For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.4.0`; the quick commands and fuller explanation are in the collapsed MetaHarness section near the top of this README and in [`harness/ruview/`](harness/ruview/README.md).
+**Live sensing pane (Claude Code mod):** the same marketplace also lists `ruview-live`, a Claude Code mod.
+- Install it with `/plugin install ruview-live@ruview`, or run `npx @ruvnet/ruview@0.9.1 mod` for its path inside the npm package.
+- `/ruview` opens a pane beside the transcript with your CSI nodes and radar, refreshed on a timer, plus a one-line status.
+- It is read-only.
+- Mods are early access; if `/ruview` is missing, start Claude Code with `CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1`. See [ADR-377](docs/adr/ADR-377-ruview-live-claude-code-mod.md).
+
+For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.9.1`. The quick commands and a fuller explanation are in the collapsed MetaHarness section near the top of this README, in [`harness/ruview/`](harness/ruview/README.md), and in the [user guide](docs/user-guide.md#ruview-npm-toolkit-ruvnetruview).

 </details>

@@ -702,6 +790,8 @@ For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.4.0`; the quick c

 ## 📖 Documentation

+[![RuView visual guide: header-docs](assets/readme/header-docs.svg)](docs/user-guide.md)
+
 Start with the user, build, and calibration guides; expand for the full reference map.

 <details>
@@ -743,6 +833,8 @@ Start with the user, build, and calibration guides; expand for the full referenc
 >
 > Contributions and bug reports welcome at [Issues](https://github.com/ruvnet/RuView/issues).

+[![Cognitum One: Ambient Intelligence at the edge of the physical world](assets/readme/cognitum.svg)](https://cognitum.one)
+
 ## 📄 License

 MIT License — see [LICENSE](LICENSE) for details.
@@ -20,6 +20,10 @@ func main() {
            exit(1)
        }
        let sample: [String: Any] = [
+            // Always the connected link. macOS redacts ssid/bssid without
+            // Location Services; rssi/noise/channel stay real, so mark the
+            // sample as the connected link for the Rust adapter.
+            "connected": true,
            "ssid": interface.ssid() ?? "",
            "bssid": interface.bssid() ?? "00:00:00:00:00:00",
            "channel": channel.channelNumber,
@@ -0,0 +1 @@
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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Intelligence at the edge</title><desc id="desc">Animated section heading. SENSORS / FIRMWARE / MODULES</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>text{font-family:Arial,Helvetica,sans-serif}.mono{font-family:ui-monospace,Consolas,monospace;letter-spacing:2px}.flow{stroke-dasharray:5 12;animation:flow 12s linear infinite}.breathe{animation:breathe 6s ease-in-out infinite}.trace{stroke-dasharray:400;stroke-dashoffset:0;animation:trace 10s ease-in-out infinite}.float{animation:float 9s ease-in-out infinite}@keyframes flow{to{stroke-dashoffset:-136}}@keyframes breathe{50%{opacity:.4}}@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}@keyframes float{50%{transform:translateY(-6px)}}@media(prefers-reduced-motion:reduce){*{animation:none!important}}</style><rect x=".5" y=".5" width="1199" height="147" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(76 75) scale(0.75)"><rect x="-25" y="-25" width="50" height="50" rx="7" fill="#0a2630" stroke="#72eee0"/><rect x="-13" y="-13" width="26" height="26" rx="3" fill="none" stroke="#70b6ff"/><path d="M-16 -36V-25M-16 25V36M-36 -16H-25M25 -16H36" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" /><path d="M0 -36V-25M0 25V36M-36 0H-25M25 0H36" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" /><path d="M16 -36V-25M16 25V36M-36 16H-25M25 16H36" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" /><circle cx="0" cy="0" r="4" stroke="#72eee0"  fill="#72eee0" class="breathe"/></g><text x="140" y="63" font-size="34" fill="#ecfafb" text-anchor="start" >Intelligence at the edge</text><text x="142" y="99" font-size="12" fill="#72eee0" text-anchor="start" class="mono">SENSORS / FIRMWARE / MODULES</text><path d="M865 44Q960 10 1124 52" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.65"/><path d="M865 61Q960 38 1124 69" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.55"/><path d="M865 78Q960 66 1124 86" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.45"/><path d="M865 95Q960 94 1124 103" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.35"/><path d="M1140 70H1160M1152 62L1160 70L1152 78" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /></svg>
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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Evidence before accuracy claims</title><desc id="desc">Animated section heading. BENCHMARKS / REPRODUCERS / LIMITS</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>text{font-family:Arial,Helvetica,sans-serif}.mono{font-family:ui-monospace,Consolas,monospace;letter-spacing:2px}.flow{stroke-dasharray:5 12;animation:flow 12s linear infinite}.breathe{animation:breathe 6s ease-in-out infinite}.trace{stroke-dasharray:400;stroke-dashoffset:0;animation:trace 10s ease-in-out infinite}.float{animation:float 9s ease-in-out infinite}@keyframes flow{to{stroke-dashoffset:-136}}@keyframes breathe{50%{opacity:.4}}@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}@keyframes float{50%{transform:translateY(-6px)}}@media(prefers-reduced-motion:reduce){*{animation:none!important}}</style><rect x=".5" y=".5" width="1199" height="147" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(76 75) scale(0.75)"><path d="M0 -38L31 -20V18L0 38L-31 18V-20ZM-31 -20L0 -1L31 -20M0 -1V38" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><path d="M-15 1L-5 11L17 -12" fill="none" stroke="#70b6ff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/></g><text x="140" y="63" font-size="34" fill="#ecfafb" text-anchor="start" >Evidence before accuracy claims</text><text x="142" y="99" font-size="12" fill="#72eee0" text-anchor="start" class="mono">BENCHMARKS / REPRODUCERS / LIMITS</text><path d="M865 44Q960 10 1124 52" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.65"/><path d="M865 61Q960 38 1124 69" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.55"/><path d="M865 78Q960 66 1124 86" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.45"/><path d="M865 95Q960 94 1124 103" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.35"/><path d="M1140 70H1160M1152 62L1160 70L1152 78" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /></svg>
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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Explore the capabilities</title><desc id="desc">Animated section heading. SENSING / MODELS / AUTOMATION</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>text{font-family:Arial,Helvetica,sans-serif}.mono{font-family:ui-monospace,Consolas,monospace;letter-spacing:2px}.flow{stroke-dasharray:5 12;animation:flow 12s linear infinite}.breathe{animation:breathe 6s ease-in-out infinite}.trace{stroke-dasharray:400;stroke-dashoffset:0;animation:trace 10s ease-in-out infinite}.float{animation:float 9s ease-in-out infinite}@keyframes flow{to{stroke-dashoffset:-136}}@keyframes breathe{50%{opacity:.4}}@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}@keyframes float{50%{transform:translateY(-6px)}}@media(prefers-reduced-motion:reduce){*{animation:none!important}}</style><rect x=".5" y=".5" width="1199" height="147" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(76 75) scale(0.75)"><circle cx="0" cy="-28" r="8" stroke="#72eee0" fill="none" /><path d="M0 -20V12M-24 -6L0 -14L24 -6M0 12L-18 38M0 12L18 38" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><ellipse cx="0" cy="14" rx="40" ry="13" fill="none" stroke="#70b6ff" stroke-dasharray="3 8" class="flow"/></g><text x="140" y="63" font-size="34" fill="#ecfafb" text-anchor="start" >Explore the capabilities</text><text x="142" y="99" font-size="12" fill="#72eee0" text-anchor="start" class="mono">SENSING / MODELS / AUTOMATION</text><path d="M865 44Q960 10 1124 52" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.65"/><path d="M865 61Q960 38 1124 69" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.55"/><path d="M865 78Q960 66 1124 86" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.45"/><path d="M865 95Q960 94 1124 103" fill="none" stroke="#72eee0" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow" opacity="0.35"/><path d="M1140 70H1160M1152 62L1160 70L1152 78" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /></svg>
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Links to architecture and user documentation.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>text{font-family:Arial,Helvetica,sans-serif}.mono{font-family:ui-monospace,Consolas,monospace;letter-spacing:2px}.flow{stroke-dasharray:5 12;animation:flow 12s linear infinite}.breathe{animation:breathe 6s ease-in-out infinite}.trace{stroke-dasharray:400;stroke-dashoffset:0;animation:trace 10s ease-in-out infinite}.float{animation:float 9s ease-in-out infinite}@keyframes flow{to{stroke-dashoffset:-136}}@keyframes breathe{50%{opacity:.4}}@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}@keyframes float{50%{transform:translateY(-6px)}}@media(prefers-reduced-motion:reduce){*{animation:none!important}}</style><rect x=".5" y=".5" width="1199" height="395" rx="18" fill="url(#wash)" stroke="#245360"/><text x="36" y="44" font-size="12" fill="#72eee0" text-anchor="start" class="mono">SIGNAL TO CONTEXT</text><text x="36" y="89" font-size="34" fill="#ecfafb" text-anchor="start" >A sensing loop you can inspect.</text><rect x="36" y="120" width="336" height="220" rx="14" fill="#071b23" stroke="#285360"/><text x="60" y="153" font-size="12" fill="#72eee0" text-anchor="start" >01</text><text x="60" y="188" font-size="26" fill="#ecfafb" text-anchor="start" >Capture RF</text><text x="60" y="216" font-size="15" fill="#9abac5" text-anchor="start" >CSI from supported hardware</text><g transform="translate(305 281) scale(0.62)"><path d="M-10.4 -5.2Q0 -18.2 10.4 -5.2" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="breathe" style="animation-delay:-0.65s"/><path d="M-20.0 -10.0Q0 -35.0 20.0 -10.0" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="breathe" style="animation-delay:-1.25s"/><path d="M-30.400000000000002 -15.200000000000001Q0 -53.199999999999996 30.400000000000002 -15.200000000000001" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="breathe" style="animation-delay:-1.9s"/><circle cx="0" cy="20" r="4" stroke="#72eee0"  fill="#72eee0"/><path d="M0 12V-1" fill="none" stroke="#72eee0" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" /></g><text x="60" y="311" font-size="13" fill="#9abac5" text-anchor="start" >Provision and calibrate</text><path d="M380 229H420M412 221L420 229L412 237" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="flow"/><rect x="432" y="120" width="336" height="220" rx="14" fill="#071b23" stroke="#285360"/><text x="456" y="153" font-size="12" fill="#72eee0" text-anchor="start" >02</text><text x="456" y="188" font-size="26" fill="#ecfafb" text-anchor="start" >Extract context</text><text x="456" y="216" font-size="15" fill="#9abac5" text-anchor="start" >Signal processing and models</text><g transform="translate(701 281) scale(0.62)"><path d="M-42 6H-27L-18 -10L-9 25L3 -25L14 10L24 -3L31 6H43" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/><path d="M-42 31H43" fill="none" stroke="#214451" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /></g><text x="456" y="311" font-size="13" fill="#9abac5" text-anchor="start" >Compare against real data</text><path d="M776 229H816M808 221L816 229L808 237" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="flow"/><rect x="828" y="120" width="336" height="220" rx="14" fill="#071b23" stroke="#285360"/><text x="852" y="153" font-size="12" fill="#72eee0" text-anchor="start" >03</text><text x="852" y="188" font-size="26" fill="#ecfafb" text-anchor="start" >Act locally</text><text x="852" y="216" font-size="15" fill="#9abac5" text-anchor="start" >Events, APIs and integrations</text><g transform="translate(1097 281) scale(0.62)"><path d="M-37 -3L0 -34L37 -3M-28 -10V32H28V-10M-9 32V8H9V32" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><circle cx="0" cy="-9" r="5" stroke="#70b6ff" fill="none" class="breathe"/></g><text x="852" y="311" font-size="13" fill="#9abac5" text-anchor="start" >Apply rules and review outputs</text><text x="36" y="373" font-size="11" fill="#9abac5" text-anchor="start" class="mono">CONCEPTUALine truncated
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+<g class="scene network all"><text x="480" y="107" text-anchor="middle" font-size="30" letter-spacing="-.7">From radio signals to useful actions.</text>
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/><text x="155" y="352" font-sizeLine truncated
+<g class="scene work all"><g><text x="480" y="92" text-anchor="middle" font-size="28" letter-spacing="-.6">A sensing workspace, powered by RuView.</text>
+<rect x="58" y="113" width="844" height="331" rx="12" fill="#090c12" stroke="#6a5931" />
+<path d="M70 144H890" stroke="#292b31" /><circle cx="76" cy="129" r="3" fill="#dcbf65" /><circle cx="87" cy="129" r="3" fill="#5b5c64" /><circle cx="98" cy="129" r="3" fill="#5b5c64" /><text x="480" y="133" text-anchor="middle" class="mono muted" font-size="9">ruOS / Desktops / ruview-workspace</text>
+<rect x="59" y="145" width="125" height="287" fill="#0c0e13" />
+<use href="#crown" transform="translate(72 158) scale(.4)" /><text x="91" y="170" font-size="15" font-weight="700">ruOS</text>
+<rect x="67" y="209" width="107" height="25" rx="5" fill="#302819" stroke="#63512c" />
+<rect x="76" y="194" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="201" font-size="10" class="muted">Overview</text><rect x="76" y="222" width="7" height="6" rx="1" fill="none" stroke="#e1c577" /><text x="91" y="229" font-size="10" class="gold">Desktops</text><rect x="76" y="250" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="257" font-size="10" class="muted">Terminal</text><rect x="76" y="278" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="285" font-size="10" class="muted">Swarms</text><rect x="76" y="306" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="313" font-size="10" class="muted">Network</text><rect x="76" y="334" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="341" font-size="10" class="muted">Usage</text><rect x="76" y="362" width="7" height="6" rx="1" fill="none" stroke="#686b79" /><text x="91" y="369" font-size="10" class="muted">Settings</text><text x="200" y="169" font-size="14" font-weight="700">RuView workspace</text><circle cx="364" cy="165" r="3" fill="#b9cb91" /><text x="374" y="169" font-size="9" class="muted">Running</text>
+<text x="882" y="167" text-anchor="end" font-size="8" class="mono gold">SYNTHETIC DEMO</text>
+<rect x="197" y="183" width="469" height="244" rx="7" fill="#14131a" stroke="#32313d" /><path d="M197 373Q370 180 666 285M197 330Q440 390 666 210" fill="none" stroke="#b49548" opacity=".18" />
+<g class="browserOpen all"><rect x="209" y="195" width="308" height="163" rx="7" fill="#191d26" stroke="#5a5961" />
+<rect x="209" y="195" width="308" height="24" rx="7" fill="#262a33" /><text x="221" y="211" font-size="8" class="mono muted">RuView / Room overview</text><circle cx="503" cy="207" r="2" fill="#e3c477" />
+<text x="225" y="241" font-size="13" font-weight="700">Room activity</text><text x="225" y="257" font-size="9" class="muted">Synthetic scene · Presence and motion</text>
+<rect x="224" y="329" width="83" height="16" rx="4" fill="#4a3d22" /><text x="233" y="340" font-size="8" class="gold">Sensor connected</text><g><path d="M229 270H494V318H229zM390 270v18m0 12v18" fill="#121921" stroke="#727781" stroke-width="1.5" /><path d="M235 278h34v15h-34zM464 280h22v24h-22z" fill="#303843" stroke="#707786" /><circle cx="285" cy="300" r="4" fill="#f0cd70" /><circle cx="285" cy="300" r="16" fill="none" stroke="#d8b353" opacity=".4" /><circle cx="326" cy="287" r="5" fill="#b7cbd0" /><path d="M326 293v12m-7-8h14m-7 8-5 8m5-8 5 8" fill="none" stroke="#b7cbd0" stroke-width="2" /><path d="M292 290Q310 273 326 287M294 306Q312 312 326 302" fill="none" stroke="#e1bd5f" stroke-dasharray="3 5" class="stream" /></g></g>
+<g class="terminalOpen all"><rect x="366" y="287" width="284" height="117" rx="6" fill="#090c12" stroke="#777061" /><rect x="367" y="288" width="282" height="21" rx="5" fill="#25272f" /><text x="380" y="302" font-size="9" class="mono">Terminal</text>
+<text x="380" y="324" font-size="9" class="mono gold">› Room event received</text><g class="terminalText all"><text x="380" y="343" font-size="9" class="mono muted">✓ Presence detected (demo)</text><text x="380" y="358" font-size="9" class="mono muted">✓ Rule checked</text></g><text x="380" y="384" font-size="10" class="mono gold done all">✓ Action ready for review</text></g>
+<rect x="680" y="183" width="207" height="244" rx="7" fill="#12151d" stroke="#33333c" /><text x="695" y="204" font-size="12" font-weight="700">Ruflo agent team</text><path d="M694 216h178" stroke="#34323a" />
+<circle cx="699" cy="235" r="5" fill="#272317" stroke="#be9f54" /><text x="713" y="239" font-size="11">Sense</text><text x="713" y="254" font-size="8" class="muted">Read room events from RuView</text><circle cx="699" cy="288" r="5" fill="#272317" stroke="#be9f54" /><text x="713" y="292" font-size="11">Evaluate</text><text x="713" y="307" font-size="8" class="muted">Check the configured rule</text><circle cx="699" cy="341" r="5" fill="#272317" stroke="#be9f54" /><text x="713" y="345" font-size="11">Act</text><text x="713" y="360" font-size="8" class="muted">Request an approved action</text><g class="done all"><rect x="693" y="381" width="181" height="29" rx="5" fill="#332b1b" stroke="#89713b" /><text x="784" y="400" text-anchor="middle" font-size="10" class="gold">✓ Room event processed</text></g>
+<g class="desktopPointer all"><path d="M0 0v20l5-6 8 1z" fill="#fff2ce" stroke="#18181a" stroke-width="1" /></g>
+<text x="480" y="469" text-anchor="middle" class="gold" font-size="14">Example: room activity → rule check → action review.</text></g></g><g class="scene end all"><ellipse cx="810" cy="290" rx="260" ry="240" fill="url(#aura)" />
+<text x="66" y="133" class="mono gold" font-size="11" letter-spacing="3">RUVIEW PERCEPTION. RUFLO COORDINATION.</text>
+<g clip-path="url(#line1)"><text class="headline1 all" x="61" y="233" font-size="72" font-weight="700" letter-spacing="-3">WiFi becomes</text></g>
+<g clip-path="url(#line2)"><text class="headline2 all" x="61" y="322" font-size="72" font-weight="700" letter-spacing="-3">spatial awareness<tspan class="gold">.</tspan></text></g>
+<path d="M66 382H894" stroke="#3b3528" /><text x="66" y="420" class="mono gold" font-size="17">ruos.cognitum.one</text><text x="892" y="420" text-anchor="end" font-size="10" class="mono muted" letter-spacing="2">BY COGNITUM</text><g><path class="underline all" d="M66 350h310" stroke="url(#gold)" stroke-width="2" /></g></g>
+<path d="M40 490H920" stroke="#26242a" /><text x="40" y="513" class="mono muted" font-size="9" letter-spacing="1.5">RUVIEW + RUFLO + RUOS</text><circle cx="853" cy="509" r="2.5" fill="#dfbf67" /><text x="866" y="512" class="mono gold" font-size="9">READY</text><g><g class="signal all"><circle r="45" fill="url(#aura)" class="signal-glow" /><circle r="10" fill="#ebc65d" opacity=".5" filter="url(#bloom)" /><circle r="4.5" fill="#ffe5a1" /><circle r="8" fill="none" stroke="#e9c56c" opacity=".3" /></g></g></g></svg>
@@ -37,6 +37,31 @@ services:
      #   volumes: ["/path/to/models:/app/models"]
      #   MODELS_DIR=/app/models
      - MODELS_DIR=${MODELS_DIR:-data/models}
+      # Auth (issue #864). The entrypoint refuses to start (exit 64) unless
+      # RUVIEW_API_TOKEN is set. Export it before `docker compose up`:
+      #   export RUVIEW_API_TOKEN=$(openssl rand -hex 32)
+      # Bare names pass the host value through only when it is set.
+      - RUVIEW_API_TOKEN
+      # ESP32 UDP ingest (ADR-296, issue #2089). The UDP receiver defaults to
+      # 127.0.0.1, which cannot receive from the published 5005/udp port.
+      # Set ONE source guard and the entrypoint binds 0.0.0.0:
+      #   RUVIEW_UDP_ALLOW=<node-ip-or-cidr>  restrict sources (preferred)
+      #   RUVIEW_UDP_INSECURE_LAN=true        accept the spoofing risk
+      # Docker Desktop and OrbStack on macOS rewrite the source address to the
+      # bridge gateway, so a LAN-subnet allowlist drops every frame. There,
+      # allow the gateway instead:
+      #   docker network inspect <project>_default \
+      #     --format '{{(index .IPAM.Config 0).Gateway}}'
+      #   RUVIEW_UDP_ALLOW=<gateway>/32
+      # The gateway admits anything that reaches the published port, so keep
+      # 5005/udp off untrusted networks.
+      - RUVIEW_UDP_ALLOW
+      - RUVIEW_UDP_INSECURE_LAN
+      - RUVIEW_UDP_BIND
+      # Browsing the UI from another machine also needs the host name or IP
+      # in SENSING_ALLOWED_HOSTS (otherwise 421), and the TCP ports above
+      # published beyond 127.0.0.1.
+      - SENSING_ALLOWED_HOSTS
    security_opt:
      - no-new-privileges:true
    cap_drop:
@@ -22,6 +22,10 @@
 #                  Default is `auto`. Set CSI_SOURCE=simulated when you want
 #                  fake data tagged as such; never set it implicitly.
 #   MODELS_DIR   — directory to scan for .rvf model files (default: data/models)
+#   RUVIEW_UDP_ALLOW / RUVIEW_UDP_INSECURE_LAN — ADR-296 UDP source guard.
+#                  Setting either makes the entrypoint bind UDP on 0.0.0.0 so
+#                  ESP32 frames on the published 5005/udp port can arrive.
+#   RUVIEW_UDP_BIND — explicit UDP bind; overrides the choice above.
 set -e

 # ── Issue #864: fail-closed on default posture ───────────────────────────────
@@ -34,8 +38,8 @@ set -e
 #
 # Escape hatches (operator must opt in explicitly):
 #   * Set RUVIEW_API_TOKEN to a strong secret → auth enabled on /api/v1/*.
-#   * Set RUVIEW_ALLOW_UNAUTHENTICATED=1 → preserves the pre-fix behaviour;
-#     only safe on an isolated trust boundary.
+#   * Set RUVIEW_ALLOW_UNAUTHENTICATED=1 (or true/yes/on, any case) →
+#     preserves the pre-fix behaviour; only safe on an isolated trust boundary.
 #   * Set RUVIEW_BIND_ADDR to a loopback / private interface → unauth is fine
 #     when the socket isn't reachable. The auto-bind nudges toward 127.0.0.1.
 #
@@ -45,7 +49,12 @@ set -e
 case "${1:-}" in
    cog-ha-matter|ha-matter|homecore|homecore-server) ;;
    *)
-        if [ -z "${RUVIEW_API_TOKEN:-}" ] && [ "${RUVIEW_ALLOW_UNAUTHENTICATED:-}" != "1" ]; then
+        # Same spellings the sensing-server accepts for its boolean env flags.
+        case "${RUVIEW_ALLOW_UNAUTHENTICATED:-}" in
+            1|[Tt][Rr][Uu][Ee]|[Yy][Ee][Ss]|[Oo][Nn]) __allow_unauth=1 ;;
+            *) __allow_unauth=0 ;;
+        esac
+        if [ -z "${RUVIEW_API_TOKEN:-}" ] && [ "$__allow_unauth" != "1" ]; then
            # If the operator hasn't overridden the bind, refuse outright on
            # the default 0.0.0.0. If they've nailed it to loopback (or a
            # specific private address they trust), let it run.
@@ -97,6 +106,50 @@ esac
 # server binary so users can just pass flags:
 #   docker run <image> --source esp32 --tick-ms 500
 if [ "${1#-}" != "$1" ] || [ -z "$1" ]; then
+    # ── Issue #2089: UDP CSI ingest posture inside a container ───────────────
+    # ADR-296 defaults the UDP receiver to 127.0.0.1. Inside a container that
+    # bind can never receive from a published port, so no node ever appears.
+    # We bind 0.0.0.0 only when the operator has configured an ADR-296 guard
+    # (RUVIEW_UDP_ALLOW or RUVIEW_UDP_INSECURE_LAN); without one the server
+    # would refuse a routable bind, so we keep loopback and say why instead.
+    # An explicit RUVIEW_UDP_BIND or --udp-bind always wins.
+    # The binary parses RUVIEW_UDP_INSECURE_LAN itself (1/yes/on/true, any
+    # case); here we only need to know whether it is truthy to pick the bind.
+    __insecure_lan=0
+    case "$(printf '%s' "${RUVIEW_UDP_INSECURE_LAN:-}" | tr 'A-Z' 'a-z')" in
+        1|true|yes|on) __insecure_lan=1 ;;
+    esac
+    __udp_bind_arg=0
+    __udp_guard_arg=0
+    for __arg in "$@"; do
+        case "$__arg" in
+            --udp-bind|--udp-bind=*) __udp_bind_arg=1 ;;
+            --udp-allow|--udp-allow=*|--udp-insecure-lan) __udp_guard_arg=1 ;;
+        esac
+    done
+    if [ -z "${RUVIEW_UDP_BIND:-}" ] && [ "$__udp_bind_arg" = 0 ]; then
+        if [ -n "${RUVIEW_UDP_ALLOW:-}" ] || [ "$__insecure_lan" = 1 ] \
+            || [ "$__udp_guard_arg" = 1 ]; then
+            export RUVIEW_UDP_BIND=0.0.0.0
+            echo "[entrypoint] UDP CSI receiver: binding 0.0.0.0 inside the container" >&2
+            echo "[entrypoint]   (a source guard is set: RUVIEW_UDP_ALLOW or RUVIEW_UDP_INSECURE_LAN)." >&2
+        else
+            case "${CSI_SOURCE:-auto}" in
+                simulated|simulate) ;;
+                *)
+                    echo "[entrypoint] NOTE: UDP CSI receiver stays on 127.0.0.1 (ADR-296 default)." >&2
+                    echo "[entrypoint]   Inside a container that bind cannot receive ESP32 frames from" >&2
+                    echo "[entrypoint]   a published 5005/udp port, so no node will appear. To ingest:" >&2
+                    echo "[entrypoint]     -e RUVIEW_UDP_ALLOW=<node-ip-or-cidr>   (restrict sources), or" >&2
+                    echo "[entrypoint]     -e RUVIEW_UDP_INSECURE_LAN=true         (accept spoofing risk)" >&2
+                    echo "[entrypoint]   Docker Desktop/OrbStack on macOS rewrite the source to the bridge" >&2
+                    echo "[entrypoint]   gateway, so the allowlist must name <gateway>/32, not the LAN subnet." >&2
+                    echo "[entrypoint]   See https://github.com/ruvnet/RuView/issues/2089" >&2
+                    ;;
+            esac
+        fi
+    fi
+
    set -- /app/sensing-server \
        --source "${CSI_SOURCE:-auto}" \
        --tick-ms 100 \
@@ -4,6 +4,7 @@
 |-------|-------|
 | **Status** | Proposed |
 | **Date** | 2026-03-01 |
+| **Updated** | 2026-10-01: macOS 27 also redacts SSID without Location Services; the connected link is kept with a synthetic id, and `auto`+wifi keeps UDP bound (see Amendment 1) |
 | **Deciders** | ruv |
 | **Codename** | **ORCA** — OS-native Radio Channel Acquisition |
 | **Relates to** | ADR-013 (Feature-Level Sensing Commodity Gear), ADR-022 (Windows WiFi Enhanced Fidelity), ADR-014 (SOTA Signal Processing), ADR-018 (ESP32 Dev Implementation) |
@@ -313,3 +314,22 @@ All verification on Mac Mini (M2 Pro, macOS 26.3).
 - ADR-022: Windows WiFi Enhanced Fidelity (analogous platform adapter)
 - ADR-013: Feature-Level Sensing from Commodity Gear
 - Issue [#56](https://github.com/ruvnet/wifi-densepose/issues/56): macOS support request
+
+---
+
+## Amendment 1 (2026-10-01): SSID is also redacted; keep the connected link
+
+**Observed on macOS 27 (M-series Mac, CoreWLAN, unsigned CLI helper).** Without Location Services, `mac_wifi --scan-once` returns `"ssid":""` and `"bssid":"00:00:00:00:00:00"`, while `rssi`, `noise`, `channel` and `tx_rate` are real. The §1 assumption that "SSID + RSSI + channel" survive no longer holds. An unsigned CLI helper never calls `CLLocationManager`, so it never appears in Location Services and cannot be granted access.
+
+Before this amendment, `resolve_bssid` abstained when both identities were blank (to avoid merging unrelated networks), so every macOS scan was dropped and `--source wifi` produced nothing, with no error.
+
+**Change.**
+1. `--scan-once` marks its single sample `"connected": true`. It is always the one connected link, so it cannot collide with another network.
+2. A redacted sample marked `connected` gets a stable, locally administered synthetic BSSID derived from a reserved key plus the channel. The SSID stays empty; none is invented. Unmarked redacted lines still abstain.
+3. `--source auto` that resolves to host WiFi now also binds the UDP receiver, and `wifi_task` yields while the source is a live `esp32`. ESP32 nodes that start after the 2 s boot probe still promote the source, matching the #1004 rule for the simulator.
+4. A missing helper logs one clear error with the build command instead of a warning on every tick.
+
+**Measured (2026-10-01, this change):** `--source wifi` → source `wifi:unnamed`, sensing ticks advance. `--source auto` on a quiet port → `wifi` with `udp_receiver=true`; relaying real ADR-018 frames promoted the source to `esp32`, with all 5 nodes listed.
+
+**Still open:** real BSSID/SSID would need a signed `.app` helper with `NSLocationWhenInUseUsageDescription` that requests authorization. The helper still lives under `archive/v1` with no build step.
+
@@ -4,6 +4,7 @@
 |-------|-------|
 | **Status** | Proposed |
 | **Date** | 2026-03-02 |
+| **Updated** | 2026-10-04 — multistatic fusion combines phase across nodes only when every frame declares the same shared phase reference; independent ESP32 nodes and the amplitude-only server bridge fuse amplitude only and report the reason (`phase_fusion` in `/health/ready`, issue #1752). |
 | **Deciders** | ruv |
 | **Codename** | **RuvSense** -- RuVector-Enhanced Sensing for Multistatic Fidelity |
 | **Relates to** | ADR-012 (ESP32 Mesh), ADR-014 (SOTA Signal Processing), ADR-016 (RuVector Training), ADR-017 (RuVector Signal+MAT), ADR-018 (ESP32 Implementation), ADR-024 (AETHER Embeddings), ADR-026 (Survivor Track Lifecycle), ADR-027 (MERIDIAN Generalization) |
@@ -3,7 +3,7 @@
 | Field | Value |
 |-------|-------|
 | **Status** | **Accepted** (MQTT track P1–P7 + P8a + P9 + P10 shipped 2026-05-23 in PR #778, 410 lib tests, witness bundle VERIFIED) / **Proposed** (Matter SDK wiring P8b deferred to v0.7.1 per §9.10) |
-| **Date** | 2026-05-23 |
+| **Date** | 2026-05-23 (amended 2026-10-02: P4.5 status note, §11) |
 | **Deciders** | ruv |
 | **Codename** | **HA-DISCO** (MQTT) + **HA-FABRIC** (Matter) + **HA-MIND** (semantic primitives) |
 | **Relates to** | ADR-018 (CSI binary frame format), ADR-021 (ESP32 vitals), ADR-031 (RuView sensing-first), ADR-039 (edge vitals packet 0xC511_0002), ADR-079 (camera ground-truth), ADR-103 (cog-person-count), ADR-110 (ESP32-C6 firmware), ADR-114 (cog-quantum-vitals) |
@@ -440,7 +440,7 @@ This means: **adding a new primitive is one file change**. No MQTT schema rev, n
 | **P2** | HA discovery message emitter. New module `mqtt_discovery.rs`. Emits all entity `config` topics on connect + every `--mqtt-refresh-secs`. Schema-validated against HA's published JSON schema. | pending |
 | **P3** | State publication. Subscribe to internal `tokio::broadcast` channel (the one `tx.send(json)` writes to on line 3983 of `main.rs`). Translate `edge_vitals` / `sensing_update` / `pose_data` messages into per-entity state payloads. Apply rate-limit + privacy-mode filters. | pending |
 | **P4** | Integration tests: dockerised mosquitto in CI (extend `.github/workflows/firmware-qemu.yml` pattern), schema-validate every emitted config against HA's `homeassistant/components/mqtt` JSON schemas (pin to a tested HA version). Add a smoke test that brings up sensing-server in `--source mock --mqtt`, subscribes with `paho-mqtt` test client, asserts on entity creation. | pending |
-| **P4.5** | **Semantic inference layer (HA-MIND).** New module `semantic_inference.rs` implementing the 10 v1 primitives from §3.12. Output broadcast channel consumed by both MQTT publisher (P3) and Matter bridge (P8). Per-primitive precision/recall baselines published to `docs/integrations/semantic-primitives-metrics.md`. Unit tests per FSM + integration tests via replay of ADR-079 paired captures. | pending |
+| **P4.5** | **Semantic inference layer (HA-MIND).** New module `semantic_inference.rs` implementing the 10 v1 primitives from §3.12. Output broadcast channel consumed by both MQTT publisher (P3) and Matter bridge (P8). Per-primitive precision/recall baselines published to `docs/integrations/semantic-primitives-metrics.md`. Unit tests per FSM + integration tests via replay of ADR-079 paired captures. | partial — 6 of 10 primitives on the live MQTT publisher; see §11 |
 | **P5** | Docs: new `docs/integrations/home-assistant.md` with screenshots of the HA UI after auto-discovery completes, example HA dashboard YAML (Lovelace card configs), 8 starter blueprints from §3.12.2 (distress notify, wake routine, hallway dim, elderly anomaly alert, meeting lights, bathroom fan, fall-risk escalate, auto-arm security), and the raw-channel example automations: "turn on hall light when presence ON", "send notification on fall_detected event", "log HR/BR to InfluxDB". | pending |
 | **P6** | Ship `--mqtt` in the next sensing-server release (target: v0.7.0). Demo end-to-end on `cognitum-v0` against a Mosquitto add-on running on a Home Assistant OS install. Update README hardware-options table with "Works with Home Assistant" badge. | pending |
 | **P7** | Matter Bridge spike: build a throwaway prototype with `matter-rs` exposing one `OccupancySensor` endpoint + one `GenericSwitch` for fall. Pair against Apple Home, Google Home, and HA's Matter integration. Decision gate: if pairing works on all three, proceed to P8; if blocked, switch to chip-tool FFI and re-spike. | pending |
@@ -667,4 +667,57 @@ Empty as of 2026-05-23. New questions discovered during implementation will be f

 ---

+## 11. Status note: P4.5 semantic states on the live publisher (2026-10-02)
+
+Issues [#2085](https://github.com/ruvnet/RuView/issues/2085) and [#2093](https://github.com/ruvnet/RuView/issues/2093) found that discovery announced 20 entities per device while only 6 ever received state, that `presence/state` was published on every CSI frame, and that HA device ids changed on every restart. The FSMs in `crate::semantic` existed but had no caller outside their tests. This note records what is now wired and what is not.
+
+### 11.1 What changed
+
+- **Semantic primitives run on the live path.** `mqtt::planner` holds one `SemanticBus` per node, sampled at 1 Hz (the rate the FSM constants assume). The bus feeds only the MQTT publisher. Matter does not consume it yet, so the "output broadcast channel shared with Matter" in P4.5 is not built.
+- **Announce only what has a source.** Six primitives are announced: `room_active`, `no_movement`, `elderly_inactivity_anomaly`, `someone_sleeping`, `possible_distress` and `fall_risk_elevated`. Four are not: `meeting_in_progress` needs a 1–20 % motion level, but per-node motion is a three-level classification; `bathroom_occupied`, `bed_exit` and `multi_room_transition` need zones, and the broadcast carries none (the §3.12.5 zone file is not implemented). For the same reason `zone_occupancy` (§3.1) and `pose` are not announced: `pose_keypoints` is never populated on the broadcast, and `persons[].keypoints` are synthesized.
+- **Per-entity availability (§3.6).** An announced entity is `online` only while its input exists: vitals while the calibration-gated estimate is published, `fall` while the node sends `edge_vitals`, `motion_energy` and `rssi` while present, and semantic primitives after the 60 s warmup (sleeping and distress also need breathing or heart rate, fall risk needs the fall detector). Otherwise it is `offline` and no state is sent. Transitions publish at once; all availability topics are re-sent every 30 s.
+- **No default values.** `motion_energy` was always `0.0` (MEASURED: 176 of 176 samples) because the bridge never set it. It now carries the node's `motion_band_power`, or the room value, or nothing. `fall` is driven by the rising edge of `edge_vitals.fall_detected`. Only `sensing_update` produces snapshots, which removes the phantom aggregate device that `edge_vitals` frames created. `present_still` now maps to 0 % motion instead of 100 %.
+- **Rates (§3.7).** Binary states publish on change, plus a 60 s retained heartbeat, as §3.5 already specified. Sensors keep their configured rates.
+- **Stable device identity (§3.8).** The default client id is now `wifi-densepose-<8 hex>`, persisted in `<data-dir>/mqtt_client_id`. §3.8 specified `wifi-densepose-<hostname>`; a persisted random id avoids a hostname dependency and survives hostname changes. `--mqtt-client-id` still overrides it.
+
+### 11.2 Evidence
+
+Unit tests (CODE-DERIVED, run with `cargo test -p wifi-densepose-sensing-server --features mqtt --lib -- mqtt:: semantic::`): `mqtt::planner::tests` covers the entity → state mapping, unavailable-without-source, warmup, on-change with heartbeat at a 73 frame/s input, sensor rates, reset and privacy mode. `mqtt::bridge::tests` covers message-type filtering, fall edges and motion energy. `mqtt::config::tests` covers client-id persistence across two "restarts" in a temp dir, override and malformed-file recovery.
+
+Live measurement (MEASURED, 2026-10-02): one ESP32 node streaming CSI and `edge_vitals` over UDP to a macOS host; `sensing-server --source esp32 --mqtt` against `eclipse-mosquitto:2` in Docker on a non-default port; every topic captured with a `paho-mqtt` subscriber on `#`. "Before" is `03a89793` (main), "after" is this change, built `--release --features mqtt`, same command and window.
+
+```bash
+# Broker: mosquitto.conf = "listener 1883 0.0.0.0 / allow_anonymous true / persistence false"
+docker run -d --rm -p 127.0.0.1:18830:1883 \
+  -v "$PWD/mosquitto.conf:/mosquitto/config/mosquitto.conf:ro" eclipse-mosquitto:2
+# Run A (180 s, then SIGTERM) and run B (restart, 45 s) share one --data-dir.
+# A paho-mqtt subscriber on '#' starts 2 s before each run.
+RUVIEW_API_TOKEN=<random> sensing-server --source esp32 --udp-port 5006 \
+  --udp-bind 0.0.0.0 --udp-allow <node-subnet> --http-port 3000 --ws-port 3001 \
+  --no-mdns --data-dir <dir> --mqtt --mqtt-host 127.0.0.1 --mqtt-port 18830
+```
+
+| Measure (180 s window unless noted) | Before (`03a89793`) | After |
+|---|---|---|
+| HA devices announced in run A | 2 (one phantom aggregate + `-node1`) | 1 (`-node1`) |
+| Entities announced per device | 20 | 15 |
+| Entities that received state (node device) | 6 | 10 |
+| Announced entities without state that still reported `online` | 14 | 1 (`fall`: an event, and no fall occurred) |
+| `presence/state` messages (node device) | 6,814 (37.9 / s) | 4 (one per change, plus 60 s heartbeat) |
+| `motion_energy` values | `0.0` in 176 of 176 | node band power, 177 samples |
+| Device id, run A → run B (restart, same `--data-dir`) | `wifi-densepose-<pid A>` → `<pid B>` (4 devices on the broker after B) | same persisted id in both runs (1 device) |
+| `offline` published on SIGTERM | no | no (unchanged; see 11.3) |
+| Same, plus `--privacy-mode` (75 s, fresh `--data-dir`) | — | 13 entities announced; no `heart_rate`, `breathing_rate` or `pose` topic for that device |
+
+After the change, five announced entities had no state: `heart_rate` and `breathing_rate`, because no calibration had been run; `someone_sleeping` and `possible_distress`, which depend on them; and `fall`, which is an event and no fall occurred. The first four were `offline`. `fall` was `online`, because the node sent `edge_vitals`. Before the change all 14 entities without state still reported `online`. Only one node was streaming during this measurement. #2085 used five nodes and measured about 73 `presence` messages per second per node.
+
+### 11.3 Not done
+
+- Semantic precision/recall on real captures. The figures in `semantic-primitives-metrics.md` have no reproducer in the repository and stay CLAIMED.
+- Zone and threshold files, `--semantic*` / `--no-semantic` flags on `sensing-server`, the `reason` attribute (§3.12.4), and `semantic_events.jsonl`.
+- MQTT last-will and offline-on-shutdown (§3.6). The server registers no LWT and SIGTERM does not publish `offline`, so availability stays as last published after the server stops.
+- Matter consumption of the semantic states.
+
+---
+
 *ADR-115 is the integration story that turns RuView from "another sensing platform" into "drop-in upgrade for any HA install **and** any Matter-controller home." MQTT carries the rich, differentiated telemetry; Matter carries the standardised subset across every controller ecosystem. Numbers 111 and 112 remain reserved per the project ADR-numbering policy.*
@@ -66,10 +66,64 @@ hardware claims.
  timestamps, sequence behavior, calibration, maximum size, and report rate.
 - Validate OpenWrt One first, then BPI-R3 4x4, before considering MT7996/MLO.

+## Amendment 1 — vendor CSI on MT7981, still unvalidated
+
+- **Date**: 2026-09-19, recorded here 2026-10-01
+- **Status**: proposed. One board model (two units). The hardware gates below are still open.
+
+The 2026-07-18 decision said the public `mt76` tree has no supported CSI export,
+and that a firmware change might be required before physical CSI exists. Both
+statements need a narrower reading.
+
+Mainline `openwrt/mt76` still has no CSI export. MediaTek's public OpenWrt feed
+does: vendor id `0x0ce7`, MCU event `0xc2`, patch
+`1001-wifi-mt76-mt7915-csi-implement-csi-support`. On a Wavlink WL-WN586X3
+Rev A (MT7981BA + MT7976CN + MT7531AE) that patch, rebased onto the `mt76`
+revision pinned by OpenWrt 24.10.8, produced complex samples without a firmware
+blob swap. The `0xc2` hook is already in the MT7981 firmware that the OpenWrt
+24.10.8 image carries. The
+rebased patch and the two userspace fixes are in `firmware/openwrt-wn586x3/`.
+
+What the first capture was: one record, 2.4 GHz, 20 MHz, legacy OFDM, 64
+subcarriers, a single chain. CSI arrived only while a client sent frames.
+The rate is client traffic, not a sensor sample clock. The capture is not in
+this repository.
+
+What it was not:
+
+- Not a calibration, a sequence check, a timestamp check, or a repeatability run.
+  The label on the wire is `mediatek:physical-unvalidated`. Plain `mediatek` stays
+  reserved for a frame that has passed those gates.
+- Not a 4x4 array. Each radio is two chains. The four antennas are a 2.4 GHz pair
+  and a 5 GHz pair. Two routers are two receivers. Cross-box phase is not a
+  shared local oscillator, so it is not a beam.
+- Not the OpenWrt One or the BPI-R3. Those remain the upstream-friendly targets
+  in the original decision. The WN586X3 is the board this path was actually run on.
+
+`wifi-densepose-mtk-bridge` translates `mt76-vendor` JSON, or an MtkCSIdump
+datagram, into ADR-267 MTC1 and sends it to the sensing server. The server keeps
+one snapshot and a bounded ring of per-subcarrier amplitude and phase per
+`device_id`. It runs `mediatek-amplitude-heuristic-v0` on mean and peak amplitude,
+and `activity-index-v0` on per-subcarrier fluctuation. Both are `CLAIMED`. Neither
+is the ESP32 vital-sign path.
+
+One measured property supports further work, and nothing more. Offline, on six
+local dump captures from two units (2.4 GHz, HT20, chains rx0 and rx1 of transmit
+stream 0), the cross-chain phase `arg(H0·conj(H1))`, summed over subcarriers,
+moved 0.014-0.039 rad (p50) between adjacent frames for well-sampled
+transmitters. Raw per-chain phase moved about 1.56 rad (p50), which is what
+uniformly random phase gives (MEASURED; reproducer
+`scripts/mediatek-csi-phase-stability.py`). That shows a stable observable inside
+one radio. It does not show that the observable tracks people.
+
+The operator guide is [`docs/mediatek-router-csi.md`](../mediatek-router-csi.md).
+
 ## Links

 - [ADR-123: BFLD capture path](ADR-123-bfld-capture-path-nexmon-and-esp32.md)
 - [ADR-264: RTL8720F radar wire protocol](ADR-264-rtl8720f-radar-wire-protocol.md)
+- [ADR-267: MediaTek MIMO CSI wire protocol](ADR-267-mediatek-mimo-csi-wire-protocol.md)
+- [MediaTek router CSI guide](../mediatek-router-csi.md)
 - [upstream mt76](https://github.com/openwrt/mt76)
 - [OpenWrt One](https://openwrt.org/toh/openwrt/one)
 - [MediaTek OpenWrt feed](https://git01.mediatek.com/openwrt/feeds/mtk-openwrt-feeds/)
@@ -34,6 +34,81 @@ Define `MTC1` version 1 as a little-endian, self-delimiting envelope:
 - Flags distinguish calibrated, saturated, time-synchronized, dropped-predecessor,
  and synthetic frames. Synthetic provenance cannot be cleared by downstream code.

+## Amendment 1 — PPDU types `Legacy` and `Unknown`
+
+- **Date**: 2026-09-19
+- **Status**: proposed. Demonstrated on one WL-WN586X3 capture. Not a maintainer acceptance.
+- **Scope**: `PpduType` discriminants only. The 72-byte header layout, CRC,
+  payload ordering, flags, and caps are unchanged.
+
+### What changed
+
+`PpduType` gains two variants:
+
+| Value | Name | Meaning |
+|---|---|---|
+| 6 | `Legacy` | Pre-HT: 802.11b CCK or 802.11a/g OFDM |
+| 7 | `Unknown` | A PPDU format the producer could not classify |
+
+Values 1-5 (`Ht`, `Vht`, `HeSu`, `HeMu`, `Eht`) are untouched.
+
+### Why
+
+The original set assumed every CSI report would be HT or later. The first real
+MT7981 capture disproved that. A Wavlink WL-WN586X3 (MT7981B + MT7976C) running
+an OpenWrt 24.10.8 image built with the patches in `firmware/openwrt-wn586x3/`
+reported `rx_mode = 1` (`MT_PHY_TYPE_OFDM`) for a client associated on 2.4 GHz
+channel 6 at 20 MHz. The bridge had no way to express it and dropped the frame.
+
+That was a real data loss, not a corner case. MediaTek's CSI driver treats legacy
+OFDM as a first-class mode: `mt7915_vendor_csi_tone_mask` skips only
+`MT_PHY_TYPE_CCK`, and its `mode_map` is keyed by `MT_PHY_TYPE_OFDM`, `_HT`,
+`_VHT` and `_HE_SU`, giving OFDM its own tone-mask group
+(`1001-wifi-mt76-mt7915-csi-implement-csi-support.patch:1070-1088`). Association
+and management exchanges are legacy-rate by design, so a sensing deployment will
+see these continuously.
+
+`Unknown` exists so the enum's gaps (5-7 and 12 in `mt76_phy_type`) and future
+modes are carried explicitly rather than guessed at or dropped. It also covers
+transports that omit the field: the MtkCSIdump UDP datagram carries no `rx_mode`,
+and reporting `Unknown` there is honest where defaulting to a concrete format was
+not.
+
+### Compatibility
+
+- **Forward, not backward.** A decoder built before this amendment rejects
+  discriminants 6 and 7 with `UnknownPpduType`, because the original parser
+  rejects unknown types by design. `TryFrom<u8>` returns `Err` rather than
+  panicking, so an old decoder fails safely — it just drops legacy frames, and
+  does so silently. **Rebuild MTC1 consumers after this codec change.**
+- **Scope is narrower than "the workspace".** `wifi-densepose-hardware` defines
+  three independent `PpduType` enums — `csi_frame.rs` (ESP32),
+  `qualcomm_csi.rs`, and `mediatek_csi.rs` — and this amendment touches only the
+  MediaTek one. Neither of the others changes, so no other vendor bridge is
+  affected. The complete set of `mediatek_csi::PpduType` consumers is:
+  `wifi-densepose-hardware`'s own `mediatek-csi-sim` binary,
+  `wifi-densepose-mtk-bridge`, and `wifi-densepose-sensing-server`, which renders the
+  value with `{:?}` and so needed no code change. In particular the
+  `ppdu_type > 3` bound in `bootstrap_baseline.rs` is fed from the **ESP32**
+  enum via `CsiGridKey::from_frame(&Esp32Frame)`, not from MediaTek frames, so
+  `Legacy` and `Unknown` cannot reach it.
+- Because the variants were added rather than renumbered, and Rust requires
+  exhaustive matches, the compiler locates any consumer that must be updated.
+  Nothing outside the files above needed one.
+- Producers must emit 6 only for frames that genuinely are pre-HT, and 7 only
+  where the format is truly unclassified. Neither is a dumping ground for a
+  mapping the producer has not done.
+- The mapping from `rx_mode` to `PpduType` is now infallible, so no MTC1 producer
+  may drop a frame on PPDU grounds.
+- Unchanged: synthetic provenance still cannot be cleared by downstream code.
+
+### Observed dimensions
+
+The same capture assembled to 1x1x64. That is the client's behaviour, not a
+protocol limit: the handset sent single-stream frames to a 2.4 GHz 20 MHz AP.
+Expect 1x2 or 2x2 on 5 GHz, and size consumers for the chipset profile's
+`max_chains` rather than for what one capture happened to show.
+
 ## Consequences

 ### Positive
@@ -59,3 +134,8 @@ Define `MTC1` version 1 as a little-endian, self-delimiting envelope:
 - [ADR-266: MediaTek Filogic CSI platform](ADR-266-mediatek-filogic-csi-platform.md)
 - [ADR-018: ESP32 binary CSI framing](ADR-018-esp32-csi-frame-protocol.md)
 - [ADR-264: RTL8720F radar wire protocol](ADR-264-rtl8720f-radar-wire-protocol.md)
+- Amendment 1 implementation: `v2/crates/wifi-densepose-hardware/src/mediatek_csi.rs`
+  (codec) and `v2/crates/wifi-densepose-mtk-bridge` (`ppdu_from_rx_mode`). The
+  motivating capture is a lab record and is not in this tree: it contains a
+  client transmitter address and raw CSI. The in-repo check is a fabricated
+  legacy-OFDM record in `wifi-densepose-mtk-bridge/tests/hardware_capture.rs`.
@@ -0,0 +1,96 @@
+# ADR-364: BFI capture admission and continuity
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: bfi, capture, evidence, continuity, hardware
+
+## Context
+
+The Archer BE550, associated iPhone and MT7927 capture host have produced
+readable beamforming feedback information (BFI). Monitor-mode support alone
+does not establish this capability, and readable reports do not establish
+continuous sensing. Router channel width also does not guarantee an identical
+feedback grid in every report.
+
+**MEASURED:** two saved trials contain 66 and 96 unique reports. During their
+approximately 30-second sender intervals, rates were 2.2 and 3.2 reports/s,
+with maximum silence of 8.392 and 6.437 seconds. No reports followed in the
+approximately 15-second post-traffic intervals. All 162 reports received an
+independent tshark angle/control/SNR comparison. Reproducer commands, capture
+hashes and limitations are in the [capture results](../../tools/bfi/OPTIMIZATION.md)
+and [continuity report](../../tools/bfi_learning/CAPTURE-CONTINUITY.md).
+
+## Decision
+
+Admit a hardware/driver/profile combination only from its actual packet
+evidence. Apply these boundaries before using its output for sensing:
+
+1. Keep originals and receipts outside Git, with raw own-network captures on
+   the capture host. Record hardware, driver, channel, source hashes, capture
+   interval and restoration outcome. Select the authorized AP/client direction
+   explicitly; missing provenance cannot be inferred from an SSID.
+2. Enforce container, radiotap, MAC, length, fragmentation and supported-format
+   checks in [bfi_decode.py](../../tools/bfi/bfi_decode.py). Validate FCS when
+   present and reject flagged corruption; absent FCS is a recorded limitation.
+   Unsupported tuples remain counted rejections. Compare every admitted angle
+   against an independent dissector before extending a format's support claim.
+3. Deduplicate retries over the whole capture before slicing time intervals.
+   Preserve integer timestamps and separate feedback grids. Sequence numbers
+   and sounding tokens do not measure lost packets. BFI steering matrices are
+   not full CSI; the identity product of a square unitary matrix with its
+   conjugate transpose cannot serve as a changing channel feature.
+4. Preserve full-observation quality metrics and add separate before-traffic,
+   sender-interval and after-traffic metrics. Include leading/trailing silence,
+   report rate, maximum gap and duration-weighted occupied one-second bins.
+   Sender timestamps bound attempted UDP sends, not verified over-air sounding.
+5. Use an initial continuity gate of reports in at least 27 of the first 30
+   complete one-second sender bins and no silence longer than two seconds
+   anywhere in the actual sender interval, repeated in three comparable trials.
+   Report any partial final bin separately; never count it as a complete second.
+   This is a project engineering gate, not a published sensing accuracy result.
+
+The current traffic receipt lacks a PCAP hash and AP/client binding. The
+analyzer checks caller-selected file associations and hashes all inputs in its
+output; this establishes content integrity, not authenticated session binding.
+Stronger binding is required before automated capture admission can treat
+receipt association as independently verified.
+
+## Alternatives
+
+Monitor-mode declarations, average report rate alone and interpolating missing
+reports would each hide a different failure. Retain explicit packet validation
+and interval coverage instead. ESP32/Realtek CSI remains a separate modality;
+multiple unsynchronized boards do not establish a coherent BFI array.
+
+## Consequences
+
+### Positive
+
+Packet validity, capture continuity and sensing accuracy have separate,
+reproducible acceptance criteria. Changes in denominators cannot appear as RF
+performance gains.
+
+### Negative
+
+Strict format and continuity gates can exclude usable but sparse observations.
+New PHY formats and hardware require additional captures and independent checks.
+
+### Neutral
+
+The current trials fail continuity. Further motion modeling requires a new
+capture result; this ADR does not authorize hardware changes or establish
+identity recognition.
+
+## Validation and links
+
+Run `python -B -m unittest discover -s tools/bfi -v` and the focused
+`test_traffic_coverage.py` suite under `tools/bfi_learning`. Synthetic tests
+check parsing and interval rules; acceptance additionally requires retained
+real captures and the three successful trials above.
+
+- Extends proposed [ADR-118](ADR-118-bfld-beamforming-feedback-layer-for-detection.md)
+  and [ADR-123](ADR-123-bfld-capture-path-nexmon-and-esp32.md); neither is superseded.
+- Preserves [ADR-120](ADR-120-bfld-privacy-class-and-hash-rotation.md)'s privacy boundary.
+- Public-data admission has a separate contract in
+  [ADR-365](ADR-365-public-bfi-dataset-and-decoder-contract.md).
@@ -0,0 +1,121 @@
+# ADR-365: Public BFI dataset and decoder contract
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: bfi, datasets, decoding, provenance, benchmarks
+
+## Context
+
+Public activity recordings offer a separate route to BFI model development
+while local capture continuity is insufficient. They introduce different frame
+formats, collection assumptions and licenses. Public HAR activity labels do
+not reproduce KIT's person-identification experiment.
+
+**MEASURED:** the pinned CSI-BFI-HAR train/validation download passed exact
+size/hash checks for 120 captures plus its license card. A separate body decoder
+matched 13,104 quantized angles across 14 sample bodies against tshark 4.2.2 in
+two independent executions. Whole-packet admission and activity training remain
+incomplete. See [results](../../tools/bfi_learning/RESULTS.md) and the
+[decoder audit and reproducer](../../tools/bfi_learning/PUBLIC-BFI-DECODE.md).
+
+## Decision
+
+### Pin provenance and partitions
+
+Use the [author dataset](https://huggingface.co/datasets/foysalhaque/CSI-BFI-HAR-Dataset/tree/c3013b3edc5a563a9cf6759f5d464a9d9b6f456a)
+at revision `c3013b3edc5a563a9cf6759f5d464a9d9b6f456a`. The
+[manifest](../../tools/bfi_learning/manifests/csi-bfi-har-c3013b3-subset.json)
+pins URLs, lengths, SHA-256, labels and split membership. Preserve the pinned
+dataset card's GPL-3.0 declaration and attribution separately from code licenses.
+
+| Partition | Author directory | Domain |
+| --- | --- | --- |
+| Training | HAR-1/BFI/M1 | Day 1, kitchen |
+| Validation | HAR-3/BFI/M1 | Day 3, classroom |
+| Held out | HAR-5/BFI/M1 and M2 | Day 5, living room; two views |
+
+Keep all views of one event in the same partition. Day and room are confounded;
+M1/M2 labels do not establish heterogeneous-chipset transfer. The selected
+filenames cover A–T activities and P1–P3 participants.
+
+Default downloads exclude held-out views. The bounded
+[downloader](../../tools/bfi_learning/download_public_bfi.py) verifies exact
+bytes before atomic completion, rehashes resumed files, retains failed partials
+and enforces transfer deadlines and byte limits. Data stays outside Git;
+downloaded code is never executed by the downloader.
+
+### Keep body decoding separate from packet admission
+
+[public_bfi_decode.py](../../tools/bfi_learning/public_bfi_decode.py) accepts
+only the audited VHT MU 3x1, 80 MHz, Ng=1, codebook-1 complete action body:
+1,003 bytes containing one SNR byte, 936 angle bytes and 61 opaque MU-exclusive
+bytes. It exposes quantized/radian angles and tone ordinals. Frequency indices,
+exclusive-field interpretation and validated matrix reconstruction remain
+separate acceptance work.
+
+Twelve sample frames have nonzero fragment-number bits. Successful tshark
+decoding and valid CRCs do not resolve their semantics. Retain live MAC guards;
+quarantine these frames until an explicit, independently reviewed dataset
+policy can justify admission. Require lossless pcapng conversion evidence for
+integer timestamps, packet lengths, link types and all original packet bytes.
+Do not silently strip headers or rewrite fragment fields to gain admission.
+
+The natural circular representation needs 1,404 features, exceeding the current
+trainer's 1,024-feature limit. Approve a bounded representation or revised limit
+with allocation tests before integration; do not truncate tones implicitly.
+
+### Admit recording quality before scoring models
+
+Inventory every manifest file, including tiny or unusable traces. Freeze a
+five-second observed-interval rule: at least 20 valid unique reports, with no
+inter-report gap above one second and no interpolation. Require at least two
+independent recordings per activity in each partition/view group that supply
+an eligible interval. Missing A–T coverage fails benchmark admission.
+Before implementing the census, also freeze interval anchoring, stride and
+leading/trailing gap rules: an inter-report gap bound alone does not bound
+silence at interval edges. These details remain required acceptance work.
+
+Public files lack trusted recorder start/end manifests. Observed packet spans
+cannot establish unobserved leading/trailing coverage. Report rejection reasons,
+eligible recording/time coverage and accuracy together. Freeze event/file groups
+before generating windows; inspect held-out quality without model selection
+against held-out outcomes.
+
+## Alternatives
+
+Reusing the HE/SU parser without format admission, weakening live fragment
+guards, or silently dropping sparse classes would change the task while hiding
+the change. Keep this adapter explicit and fail incomplete benchmark coverage.
+
+## Consequences
+
+### Positive
+
+Data provenance, protocol support and score coverage remain independently
+auditable. New public formats cannot silently weaken live capture validation.
+
+### Negative
+
+Sparse files or unresolved framing may prevent a benchmark despite a successful
+download. Format and representation work must precede model optimization.
+
+### Neutral
+
+This is offline research/reference tooling. Production integration must reuse
+the Rust protocols in [ADR-291](ADR-291-public-benchmark-evaluation-harness.md)
+and scorecards in [ADR-317](ADR-317-benchmark-multi-domain-scorecard.md); this ADR
+does not establish a second production trainer or an integrated benchmark score.
+
+## Validation and links
+
+Use `test_download_public_bfi.py` and `test_public_bfi_decode.py` under
+`tools/bfi_learning`, then the full packet oracle and quality census specified
+in the [decode audit](../../tools/bfi_learning/PUBLIC-BFI-DECODE.md) and
+[benchmark protocol](../../tools/bfi_learning/RESEARCH-NEXT.md).
+
+- Depends on [ADR-364](ADR-364-bfi-capture-admission-and-continuity.md)'s distinction
+  between packet validity and coverage.
+- Preserves [ADR-120](ADR-120-bfld-privacy-class-and-hash-rotation.md).
+- [ADR-119](ADR-119-bfld-frame-format-and-wire-protocol.md) defines a BFLD envelope;
+  that envelope does not replace raw 802.11 decoding.
@@ -0,0 +1,115 @@
+# ADR-366: CSI controls and frozen evaluation
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: csi, evaluation, controls, holdout, evidence
+
+## Context
+
+The public NTU-Fi HumanID experiment uses 14 classes and a custom directory
+split of 238 training, 56 validation and 546 held-out recordings. It differs
+from the author's folder mapping. Physical acquisition-session independence
+is unknown; absence of exact duplicates cannot establish it.
+
+**MEASURED:** each of six LSTM/GRU runs classified 56/56 validation recordings
+correctly. A fixed-alpha ridge model using only mean amplitudes also scored
+56/56. In a matched three-seed GRU diagnostic, raw/original, raw/shuffled and
+demeaned/original inputs each scored 56/56 for every seed; demeaned/shuffled
+scored 52/56, 55/56 and 56/56. Chronological motion is unnecessary for perfect
+accuracy on this validation split. The physical source of the predictive signal
+remains unresolved. [Measured results and reproduction receipts](../../tools/bfi_learning/RESULTS.md)
+
+## Decision
+
+### Separate diagnostics from claims of generalization
+
+Use static and temporal controls before interpreting a sequence-model score.
+Keep input files, optimizer budgets and seeds matched across raw/original,
+raw/shuffled, demeaned/original and demeaned/shuffled conditions. Permute whole
+feature rows within one recording, using source/seed information without labels.
+Never mix partitions. Mark shuffled time coordinates as administrative.
+
+Whole-recording demeaning is an offline diagnostic that sees the complete
+recording. It cannot substantiate causal streaming inference. These nondefault
+controls are restricted to the custom public identity protocol and cannot alter
+next-observation BFI forecasting. Fit normalization on training inputs only.
+
+Report recording-level accuracy, macro-F1, included recordings and seed variation
+alongside validation cross entropy averaged over selected windows. Recording
+predictions aggregate softmax probabilities across their selected windows;
+the current loss is not computed from those recording aggregates. Treat window
+accuracy as secondary because overlapping windows and repeated seeds on the same
+recordings are not independent participant trials. Retain session-independence
+limitations beside every custom-split result.
+
+### Freeze selection before final evaluation
+
+Keep the [predeclared control protocol](../../tools/bfi_learning/CONTROLS.md):
+the twelve 50-epoch diagnostic runs are excluded from final-model selection.
+Only the six original raw/original 200-epoch LSTM/GRU runs are eligible. Select
+lowest window-averaged validation cross entropy, breaking ties by earlier
+completion. Do not substitute recording-aggregated loss or change this rule in
+response to a held-out outcome.
+
+Freeze source, dataset, metadata, configuration and checkpoint hashes before
+the scheduled final evaluation. Load frozen weights without retraining. The
+trainer creates an exclusive one-use claim before holdout scoring and retains
+it even if scoring fails; a failure requires explicit review, not an automatic
+retry. This claim is scoped to the selected frozen-run directory; the controller
+enforces one final evaluation across the task's candidate directories. Stop
+tuning against that holdout after its result is inspected. At this decision's
+evidence checkpoint, final holdout metrics remain absent.
+
+### Preserve executable provenance
+
+Use bounded numeric NPZ inputs/checkpoints with pickle disabled and validate ZIP
+central-directory bounds before allocation. Verify hashes and restore recorded
+transformations during frozen evaluation. The launcher checks returned seed,
+protocol, configuration and `test: null` during tuning. Save incomplete runs
+and denominator changes explicitly rather than substituting successful runs.
+
+Current Python tools are bounded offline reference experiments. Production
+benchmark integration continues through the Rust protocols and per-domain
+scorecards of ADR-291/317. A fair state-of-the-art comparison needs matched data,
+task, representation, partition, adaptation access and evaluation; this custom
+CSI result establishes neither BFI identity performance nor paper reproduction.
+
+## Alternatives
+
+Validation accuracy alone cannot distinguish temporal learning from static
+cues. Random window splits would leak recordings across partitions. Expanding
+the eligible model set after diagnostics would change the predeclared selection
+procedure. Retain the frozen recording split and candidate set.
+
+## Consequences
+
+### Positive
+
+Controls expose when model complexity or temporal claims lack experimental
+support. The final evaluation has a traceable selection rule and one-use record.
+
+### Negative
+
+A saturated validation set limits further optimization, and strict one-use
+evaluation makes interrupted scoring an explicit recovery decision. New-session
+evidence requires new data rather than additional fitting to this split.
+
+### Neutral
+
+The GRU has 24.8% fewer parameters than the tested LSTM, but measured peak GPU
+allocation was higher and elapsed times do not isolate an architecture speedup.
+Preserve these separate resource findings when comparing models.
+
+## Validation and links
+
+Run the focused `test_prepare.py`, `test_train.py`, `test_static_baseline.py`
+and `test_run_batch.py` suites under `tools/bfi_learning`. Synthetic isolation
+and restore tests complement the retained real-data receipts; neither establishes
+new-session generalization.
+
+- Extends [ADR-291](ADR-291-public-benchmark-evaluation-harness.md) and
+  [ADR-317](ADR-317-benchmark-multi-domain-scorecard.md) without superseding them.
+- [Comparison contract](../../tools/bfi_learning/RESEARCH.md),
+  [trainer](../../tools/bfi_learning/train.py) and
+  [overnight frozen-selection procedure](../../tools/bfi_learning/OVERNIGHT.md).
@@ -0,0 +1,110 @@
+# ADR-367: Bounded research swarm and compute ownership
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: orchestration, ruflo, codex, compute, provenance
+
+## Context
+
+Research, implementation and independent review can run concurrently, while
+GPU training, capture hardware and final evaluation need clear ownership.
+Registration in a swarm registry does not prove that a worker executed a task.
+Unbounded retries, duplicate schedulers or overlapping jobs can corrupt evidence
+and spend resources without improving an experiment.
+
+**MEASURED at the September 29 checkpoint:** local GPU runs and Codex reviews
+completed with receipts. Federation enrollment returned `registration paused`
+and relay membership was rejected; no cross-host worker accepted a task.
+Shared-memory writes were blocked by the native-WAL guard. These limitations
+and the actual work locations are recorded in the
+[overnight procedure](../../tools/bfi_learning/OVERNIGHT.md).
+
+## Decision
+
+### Assign one owner to each mutable resource
+
+The root controller owns each capture action, GPU batch, checkpoint-selection
+decision and final evaluation. Delegated workers receive bounded source/review
+tasks and explicit file ownership. Worker findings are untrusted proposals for
+controller review. Distinguish registration, dispatch, execution and verified
+completion in receipts; only execution evidence supports a completed-work claim.
+
+Use the existing app heartbeat as the sole recurring scheduler for this task.
+Finite serial GPU loops are jobs within a wake, not independent recurring
+schedulers. Resume from receipts and verified lock ownership; completed runs
+are not repeated merely because a wake or supervisor restarts.
+
+### Bound execution and audit outputs
+
+The [GPU launcher](../../tools/bfi_learning/run_batch.py) uses Linux process
+groups, an exclusive batch lock, a 900-second trainer budget and a 1,020-second
+child timeout. The current experiment requires at least 4 GiB free GPU memory,
+caps the trainer's PyTorch allocator fraction at 20%, and bounds logs/metrics
+to 8 MiB. This allocator limit is not a whole-device memory reservation.
+Verify child hashes, seed, protocol, configuration and absence of test metrics
+before declaring success. Preserve unrelated GPU services; cleanup targets only
+owned processes. Audit matrix and batch ownership before changing stale locks.
+
+The task-specific [Codex review wrapper](../../tools/bfi_learning/codex_iteration.py)
+uses bounded source snapshots on stdin, read-only sandboxing, execution rules,
+an exclusive lock, timeout and private event logs. This differs from the generic
+contributor adapter's configuration contract. Check events for unexpected tool
+execution; never execute suggestions automatically or grant child text authority.
+
+Preserve federation and memory safety guards when a backend is unavailable.
+Use private local receipts as the fallback and report degraded coordination.
+Retry only after a relevant service/writer change or a concrete causal fix.
+
+### Bind compute to an explicit task budget and end time
+
+Use local capacity first. A paid GPU needs a measured capacity requirement and
+an explicitly authorized cumulative budget covering actual spend, outstanding
+reservations and fees. Before rental, check current prices, active instances
+and remaining allowance; reserve maximum bounded cost, enforce termination and
+verify resource cleanup. Transfer only authorized public licensed data and
+reviewed source. A future run needs its own applicable authorization.
+
+For the current run, the authorized cap is USD 200, local RTX 5080 capacity has
+been sufficient and the recorded spend is USD 0. The existing schedule ends
+September 30, 2026 at 07:00 America/Toronto. Its final wake performs the frozen
+evaluation, reconciles owned jobs/resources and the ledger, records results,
+then pauses the heartbeat. These are run-specific values, not durable spending
+or scheduling authority granted by this ADR.
+
+## Alternatives
+
+Multiple controllers per GPU, detached indefinite loops, and treating a
+registration response as an executed agent task make ownership unverifiable.
+Retain explicit owners, finite jobs and execution receipts instead.
+
+## Consequences
+
+### Positive
+
+Parallel review remains useful while resource mutation and final evaluation
+have one accountable owner. Receipts support recovery without silent reruns.
+
+### Negative
+
+Serial GPU ownership can leave capacity unused. Federation or memory outages
+reduce coordination features, and bounded jobs may need reviewed continuation.
+
+### Neutral
+
+Source and sanitized documentation belong in the isolated worktree. Raw RF
+data, subject recordings, weights, logs, credentials and transcripts stay outside
+Git. A completed experiment does not authorize model promotion, firmware
+flashing, merging or publication.
+
+## Validation and links
+
+Run `test_run_batch.py` and `test_codex_iteration.py` under `tools/bfi_learning`.
+Audit real execution/cleanup receipts, lock owners, ledger and scheduler state
+at completion; successful synthetic tests alone cannot establish these outcomes.
+
+- Preserves [ADR-283](ADR-283-ruview-community-metaharness-flywheel.md)'s
+  proposal-only learning and maintainer promotion boundary.
+- Follows [ADR-321](ADR-321-decision-policy-action-authorization.md).
+- Depends on [ADR-366](ADR-366-csi-controls-and-frozen-evaluation.md) for frozen
+  candidate selection and final holdout handling.
@@ -0,0 +1,187 @@
+# ADR-368: RuView compute kernel as a WASM + napi-rs npm package
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: npm, wasm, napi-rs, metaharness, vitals, supply-chain
+- **Related**: ADR-021 (vitals), ADR-263/265 (npm harness review and
+  distribution), ADR-283 (community metaharness), ADR-285 (WASM-first Homecore
+  metaharness)
+
+## Context
+
+`@ruvnet/ruview` (ADR-283) is a dependency-free operator/contributor harness:
+it guides, verifies, and delegates, but it cannot run RuView signal processing.
+JavaScript consumers (MCP hosts, dashboards, browser demos, agents) that want
+real RuView computation must today start the Rust sensing server or re-implement
+DSP in JS, which drifts from the Rust source of truth.
+
+We want one Rust implementation reachable from npm with:
+
+1. a portable default that works on every Node platform and in browsers;
+2. an optional native path for hosts that want it;
+3. the metaharness trust posture: least authority by default, the backend that
+   actually ran is always reported, fail-closed on missing or tampered
+   artifacts, and no accuracy claim without an evidence tag.
+
+## Decision
+
+### One core, one ABI, two transports
+
+- **`v2/crates/ruview-kernel`** (workspace member) wraps the ADR-021 pipeline
+  from `wifi-densepose-vitals` (EMA preprocessing, breathing 0.1–0.5 Hz, heart
+  0.8–2.0 Hz, anomaly z-score) in a streaming `Session`, a deterministic
+  SplitMix64 synthetic-CSI generator, and a bounded session registry.
+- The entire ABI is one function: `call(op, request_json) -> envelope_json`,
+  returning `{"ok":true,"result":…}` or
+  `{"ok":false,"error":{"code","message"}}`. Operations: `info`,
+  `validate_config`, `analyze`, `synthesize`, `session_open|push|summary|close`.
+  Keeping the ABI to a single string function makes backend parity a property
+  of the transport rather than of duplicated bindings.
+- **WASM transport** (`src/wasm_abi.rs`, `wasm32-unknown-unknown` only):
+  `rvk_alloc`/`rvk_free`/`rvk_call`/`rvk_abi_version`. The module has **zero
+  imports** — no filesystem, network, clock, or randomness. The JS loader
+  refuses any module that imports host functions.
+- **napi-rs transport** (`v2/crates/ruview-kernel-napi`): exports only
+  `abiVersion()` and `call(op, json)`. It is a standalone Cargo workspace
+  (listed in the v2 `exclude`) so napi never enters
+  `cargo test --workspace`, and it builds with `panic = "unwind"` plus
+  `catch_unwind` so a defect becomes an error envelope, not a Node crash.
+
+### Input is untrusted at the ABI
+
+Requests are bounded before processing: 16 MiB per request, 512 subcarriers,
+100 000 frames per call or synthesis, 64 concurrent sessions. Unknown JSON
+fields are rejected (`deny_unknown_fields`); frame widths must match the
+configured subcarrier count; values must be finite with magnitude ≤ 1e9; all
+frames of a batch are validated before any is processed. The core returns an
+error envelope instead of panicking on caller data (release builds of the WASM
+module use `panic = "abort"`, which the loader surfaces as a `trap` and
+recovers from with a fresh instance).
+
+### npm package `@ruvnet/ruview-kernel` (`harness/ruview-kernel`)
+
+- Zero runtime dependencies. `loadKernel({backend})` with
+  `backend ∈ {wasm (default), napi, auto}` or `RUVIEW_KERNEL_BACKEND`.
+  WASM is the default because it carries no host authority. `napi` never
+  silently falls back; `auto` prefers napi and records `fallbackReason`.
+- Artifacts are built from source by `npm run build` (`scripts/build.mjs`,
+  no shell) into `wasm/` and `native/ruview_kernel.<triple>.node`, with
+  `SHA256SUMS`. The loader verifies checksums; a mismatch is always fatal and
+  never an `auto` fallback trigger; `requireIntegrity` also refuses
+  unchecksummed artifacts. Built artifacts are git-ignored and never committed.
+- `src/wasm.js` is filesystem-free, so browsers can use
+  `loadWasmKernelFromBytes(bytes)`.
+- CLI `ruview-kernel`: `doctor`, `info`, `selftest`, `parity`, `synth`,
+  `analyze --file`, `bench`. `synth --out` refuses to overwrite files;
+  `analyze` reads only a bounded regular file.
+- `selfTest()` runs synthesize → analyze → chunked streaming session → hostile
+  input, and asserts known-tone recovery. `parity()` diffs every output of
+  both backends with a 1e-9 relative tolerance, because `sin`/`exp` come from
+  different libm implementations on wasm32 and native targets; exact JSON
+  equality is reported separately and is not required.
+
+### Metaharness integration
+
+`@ruvnet/ruview` gains the read-only tool `ruview_kernel_selftest`
+(CLI: `ruview kernel [--backend …]`). It dynamically imports the fixed
+specifier `@ruvnet/ruview-kernel`, so `@ruvnet/ruview` keeps zero runtime
+dependencies, and it returns `kernel_not_installed` when the package is absent.
+MCP arguments are limited to `backend` and `seconds`; they cannot choose a
+module or artifact path. The capability appears in `ruview_guidance` as
+`portable-compute-kernel`.
+
+## Evidence
+
+- **SYNTHETIC** (`cd harness/ruview-kernel && node bin/cli.js selftest`):
+  60 s at 20 Hz, 56 subcarriers, 15 bpm breathing and 72 bpm heart tones →
+  recovered 15.0 bpm respiratory (valid) and 70.6 bpm heart (degraded
+  confidence 0.44). Tolerances asserted: ±3 bpm respiratory, ±8 bpm heart.
+- **SYNTHETIC** parity (`node bin/cli.js parity`): 900 frames / 45 readings,
+  no difference above 1e-9 relative between wasm32 and linux-x64-gnu napi;
+  outputs are not byte-identical.
+- **MEASURED** on one Linux x64 development container
+  (`node bin/cli.js bench --backend wasm|napi --seconds 120`): about 78 ms
+  (wasm) and 63 ms (napi) per 2 400-frame `analyze`, including JSON transfer.
+  Single-host timing, not a cross-platform claim.
+- The WASM release artifact is about 230 KB and imports nothing
+  (`node scripts/verify-artifacts.mjs --require-wasm`).
+
+None of these numbers says anything about real-world vital-sign accuracy.
+That still requires the ADR-293 ground-truth protocol with a reference device.
+
+## Amendment 1 (2026-10-01): binary transport and optimization evidence
+
+**Profile (MEASURED on one Linux x64 development container, 2 400 frames ×
+56 subcarriers).** JSON was the dominant cost:
+
+- JS `JSON.stringify` of the request alone took 52–78 ms against
+  107–124 ms for a whole `analyze`.
+- Rust then re-parsed about 270 000 numbers.
+
+**Decision.** Add a binary fast path without changing the ABI version.
+
+- New operations `analyze_flat` and `session_push_flat`, carried by
+  `call_f64(op, json, &[f64])`:
+  - WASM: `rvk_call_f64`, which reads bytes so alignment does not matter;
+  - napi: `callF64(op, json, Float64Array)`.
+- `analyze()` and `session.push()` pack uniform frames into one
+  `Float64Array` (all amplitudes, then all phases) and use the binary path
+  automatically. Irregular input still takes the JSON path so its error names
+  the bad frame.
+- `analyzeFlat(Float64Array, …)` is the zero-copy entry.
+- `Session::step` is shared by both paths.
+
+**Evidence.**
+
+- **Byte-identical outputs.** On identical `f64` inputs the two paths
+  produce byte-identical JSON (`tests/abi.rs`).
+- **A JSON precision finding.** serde_json's default float parser is not
+  correctly rounded, so the JSON transport perturbs inputs by ULPs (34 of 160
+  amplitude values in a 2 s, 4-subcarrier SYNTHETIC sample). The binary path is bit-exact.
+- **Speed.** MEASURED, `ruview-kernel bench --seconds 120`, same host:
+
+  | Backend | JSON transport | Binary transport | Speed-up |
+  |---|---|---|---|
+  | wasm | 134.8 ms | 47.8 ms (~50 000 frames/s) | 2.82× |
+  | napi | 109.7 ms | 44.8 ms (~53 600 frames/s) | 2.45× |
+
+- **Remaining cost is DSP.** Native timing gives heart-rate extraction
+  20.8–22.9 ms of 30.6–38.3 ms (about 60–68%, MEASURED; reproducer:
+  `cargo run --release -p ruview-kernel --example profile_stages`): the per-frame autocorrelation over the 15 s window
+  in `wifi-densepose-vitals`. That crate is shared with the production sensing
+  server, and an incremental ACF would change floating-point summation order
+  and therefore outputs. It is left as a follow-up that needs its own review
+  and regression evidence.
+
+**Rejected after measurement.** MEASURED, three runs on the same host;
+reproducer: `node bench/wasm-variants.mjs` in `harness/ruview-kernel`. Each
+run is the median of 15 `analyzeFlat` calls on 2 400 frames. All variants
+produced byte-identical outputs.
+
+| Variant | Size | Median ms (3 runs) | Decision |
+|---|---|---|---|
+| baseline (`opt-level = 3`) | 244 KB | 38.3–40.6 | kept |
+| `+simd128` | 242 KB | 37.4–54.7 | rejected: no consistent gain, and it needs SIMD-capable engines |
+| `opt-level = "s"` | 227 KB | 40.8–70.1 | rejected: consistently slower for a 17 KB size saving |
+
+## Consequences
+
+- JavaScript consumers get real RuView DSP without a server, in Node or the
+  browser, with one Rust source of truth.
+- A second native build matrix exists. Until per-platform packages
+  (`@ruvnet/ruview-kernel-<triple>`) are published by CI, only WASM is
+  portable; the loader already resolves those package names.
+- JSON transfer dominates the cost of small calls; a typed-array fast path can
+  be added later behind a new ABI version.
+
+## Rollout and rollback
+
+1. CI (`ruview-kernel-npm.yml`) builds both transports from source, runs the
+   Rust tests, the package tests with `RUVIEW_KERNEL_REQUIRE_NAPI=1`, parity,
+   artifact verification, and `npm pack --dry-run`.
+2. Publication stays CI-only with provenance (ADR-265) and requires explicit
+   maintainer approval; this ADR does not add a publish job.
+3. Rollback: remove the `ruview_kernel_selftest` tool (the harness has no
+   dependency on the package) and deprecate the npm version; the Rust crates
+   are additive.
@@ -0,0 +1,74 @@
+# ADR-369: npm RuView operator surface — CLI, MCP, and SDK over one registry
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: npm, mcp, sdk, cli, metaharness, least-authority
+- **Related**: ADR-263/265 (npm harness review and distribution), ADR-283
+  (community metaharness), ADR-368 (compute kernel), ADR-370 (flashing),
+  ADR-371 (training), ADR-372 (doctor)
+
+## Context
+
+`@ruvnet/ruview` 0.5.x could onboard, lint claims, verify the proof, monitor a
+node, and read Cognitum Spaces. Three operator jobs still left the package:
+
+- **Flashing** was a Windows-only stub that returned `manual_step_required`.
+- **Training** had only a skill document; nothing ran a trainer or checked
+  results mechanically.
+- **Diagnostics**: `doctor` printed six PASS/FAIL lines without remedies.
+
+There was also no programmatic API. Integrators had to shell out to the CLI or
+speak MCP.
+
+## Decision
+
+1. **One registry, three front ends.** Every capability is a `ruview_*` tool
+   in `src/tools.js`, with a JSON schema, a `TOOL_POLICY` class, and a
+   structured, fail-closed result. The CLI verbs, the MCP server, and the new
+   SDK all go through `runTool`. There is one argument validator and one
+   authorization path.
+2. **SDK** (`@ruvnet/ruview/sdk`, typed by `src/sdk.d.ts`). `createRuView()`
+   returns a frozen object with `doctor`, `firmware.{ports,plan,flash,monitor}`,
+   `training.{plan,run,gate,calibrate}`, `kernel.{selfTest,load}`, `guidance`,
+   `claimCheck`, `verify`, `spaces`, `memorySearch`, `call`, `tools`, and
+   `startMcpServer`.
+   - Calls run with `source: 'sdk'`: trusted in-process code, like the CLI.
+     Mutating tools still refuse to act without `confirm: true`.
+   - `{ strict: true }` turns `ok:false` into a `RuViewError`.
+3. **Plan/act split for every mutation.**
+   - `ruview_firmware_plan` and `ruview_train_plan` are read-only and their
+     schemas do not accept `confirm`. An MCP client without write grants can
+     review the exact command.
+   - The acting tools (`ruview_node_flash`, `ruview_train`) keep the existing
+     grant-plus-confirm gate: `hardware-write` and `workspace-write`.
+4. **New tools**: `ruview_doctor`, `ruview_firmware_plan`,
+   `ruview_firmware_ports`, `ruview_train`, `ruview_train_plan`,
+   `ruview_train_gate`. `ruview_node_flash` is re-implemented (ADR-370).
+   `TOOL_POLICY`, `.harness/claims.json`, and `.harness/mcp-policy.json` are
+   kept in lock-step, and a test fails on any drift.
+5. **Process execution** for operator tools goes through `src/exec.js`:
+   - argv only, never a shell;
+   - a scrubbed environment: the base allowlist plus toolchain locations such
+     as `LIBTORCH`, `CARGO_HOME`, `VIRTUAL_ENV` and `IDF_PATH`, and no
+     credentials;
+   - bounded output, and secrets redacted.
+6. **Zero runtime dependencies stays.** The optional compute kernel
+   (ADR-368) is loaded dynamically. Version 0.6.0. The unpacked-size ceiling
+   rises from 160 KiB to 224 KiB for the new modules, with the budget recorded
+   in both npm workflows.
+
+## Consequences
+
+- Agents, scripts, and humans get the same behaviour and the same refusals.
+- The package now drives real hardware and training. Keeping the plan/act
+  split and argv-only execution is essential, and tests pin both.
+- The surface is larger (16 MCP tools). Hosts that cap tool counts can
+  filter by annotations (`readOnlyHint`).
+
+## Acceptance
+
+- `cd harness/ruview && npm test && npm run test:security` (drift test in
+  `test/sdk.test.mjs`).
+- `npx @ruvnet/ruview tools` lists 16 tools. `node -e "import('@ruvnet/ruview/sdk')"`
+  resolves from an installed tarball.
@@ -0,0 +1,83 @@
+# ADR-370: Cross-platform, verified ESP32 firmware flashing from npm
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: firmware, esp32, esptool, supply-chain, hardware-evidence
+- **Related**: ADR-028 (capability audit / witness), ADR-369, firmware
+  `README.md` §0 and §2
+
+## Context
+
+The documented flash procedure is four `esptool write_flash` offsets. It is
+typed by hand, and a wrong chip, wrong flash size, or tampered image can brick
+a board or silently run the wrong firmware. The previous `ruview_node_flash`
+was Windows-only and never flashed. Project rules also say that a successful
+build or write is **not** hardware validation; that requires a captured
+boot/runtime log from real silicon.
+
+## Decision
+
+`src/firmware.js` implements plan → verify → preflight → write → evidence:
+
+1. **Variants**:
+   - `s3-8mb` → `esp32s3` / 8MB
+   - `s3-4mb` → `esp32s3` / 4MB; prefers `*-4mb.bin` images
+   - `c6` → `esp32c6` / 4MB
+
+   Offsets follow the shipped partition tables: bootloader `0x0`, partition
+   table `0x8000`, optional OTA data `0xf000`, app `0x20000`. NVS is never
+   written, so WiFi and node configuration survive.
+2. **Bundle verification**. A bundle is an extracted release flash bundle,
+   `release_bins/<variant>`, or an ESP-IDF `build/` directory.
+   - Every image must match `SHA256SUMS` or `SHA256SUMS.txt`. A mismatch is
+     always fatal.
+   - Missing checksums are refused unless `allow_unverified` is set, which is
+     for local builds only.
+   - Images must be regular, non-empty files of at most 16 MiB, inside the
+     bundle; symlinks that escape the bundle are refused.
+   - An 8 MB variant refuses a 4 MB partition table.
+   - A bundle without OTA data produces an explicit warning (a node on `ota_1`
+     keeps booting `ota_1`).
+3. **Argv, not shell.**
+   - The port must match `COM<n>` or `/dev/(tty|cu)*`.
+   - Baud comes from a fixed set.
+   - The command is `python -m esptool --chip … --port … --baud … write_flash
+     --flash_mode dio --flash_size … <offset> <file>…`. The underscore forms
+     work in both esptool 4.x and 5.x.
+4. **Chip preflight.** `esptool chip_id` must report the variant's chip. The
+   parser covers the 4.x "Chip is" and 5.x "Chip type:" / "Detecting chip
+   type…" formats. A mismatch or missing response stops the flow before any
+   write.
+5. **Evidence.** After a write, a read-only pyserial capture (default 15 s,
+   port and duration passed as argv) is summarized: line count, CSI
+   callbacks, MGMT+DATA upgrade, panic markers, firmware version.
+   - `hardwareValidated: true` only when CSI callbacks appear with no panic;
+     the result's `evidence` is then `MEASURED` with a boot-log reason.
+   - Otherwise the result states the board is not validated.
+6. **Authority.** Without `confirm` the result is a plan. MCP needs the
+   `hardware-write` grant plus `confirm`. `ruview_firmware_plan` and
+   `ruview_firmware_ports` are read-only.
+7. **Provisioning stays out.** WiFi credentials remain in `provision.py`, so
+   they never enter harness arguments, logs, or MCP transcripts.
+
+## Evidence
+
+- `npx @ruvnet/ruview doctor --group firmware` verified all four checked-in
+  `release_bins` bundles (c6-adr110, c6-onboarding, s3-adr110,
+  s3-fair-adr110) against their `SHA256SUMS.txt` in this change's development
+  container.
+- The write and preflight paths are covered by tests with injected fake
+  hardware: mismatch refusal, probe failure, flash failure, boot-log
+  validation, and a silent log that yields no validation.
+- **No real board was flashed** during this change, so real-silicon validation
+  is outstanding.
+
+## Consequences
+
+- Operators on any OS get one verified command. Agents can review plans
+  without hardware authority.
+- The workflow depends on Python, esptool, and pyserial. `doctor` reports each
+  one with a fix.
+- Follow-up: an ADR-028 witness record could store the boot-log summary and
+  image digests.
@@ -0,0 +1,91 @@
+# ADR-371: Harness training runner and mean-pose evidence gate
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: training, evaluation, evidence, pose, honesty
+- **Related**: ADR-079 (camera-supervised pose), ADR-151 (room calibration),
+  ADR-181 (baseline-relative PCK), ADR-369
+
+## Context
+
+RuView has a retracted pose result (a CLAIMED 92.9%/100% that did not survive
+baseline and leakage review). The project rule is that pose
+PCK is quoted only with the mean-pose baseline, on a leakage-free held-out
+split, with an evidence tag. The `train-pose` skill says this in prose, but
+nothing enforces it. Running the trainers also needs repository knowledge:
+the `tch-backend` feature, a libtorch version match, and where checkpoints go.
+
+## Decision
+
+### Gate (`ruview_train_gate`, pure, read-only)
+
+The input is a small report: metric, model and baseline score, split,
+train/test subjects, train end and test start, `n_test`, reproducer, and data
+source.
+
+**Hard failures:**
+- no baseline;
+- a random-frame split, or any split outside chronological / blocked-gap /
+  grouped-subject / grouped-session;
+- subject overlap in a grouped-subject split;
+- missing or overlapping time bounds for chronological or blocked-gap splits;
+- no improvement over the baseline.
+
+**Warnings:**
+- subjects not reported;
+- subjects overlapping in non-subject splits;
+- `n_test` < 100;
+- a near-perfect score: at or above the `implausible_score` threshold in
+  `src/training.js`.
+
+**Evidence tag:** `SYNTHETIC` when `data: synthetic`, `MEASURED` only with a
+reproducer, otherwise `CLAIMED`.
+
+On PASS the gate returns the one acceptable sentence:
+`Held-out <metric> X% vs Y% mean-pose baseline = +Z pp (<tag>, …, <split> split).`
+
+### Runner (`ruview_train`, `ruview_train_plan`)
+
+Modes:
+- `pose-smoke`: `wifi-densepose-train` `train --dry-run` on the synthetic
+  dataset.
+- `pose`: `--data-dir`, MM-Fi recordings.
+- `room`: `wifi-densepose train-room`, or `cargo run -p wifi-densepose-cli`
+  when the binary is absent.
+
+Rules:
+- All caller paths (config, data, checkpoints, enrollment, output) must
+  resolve inside the trusted checkout. Realpaths are checked for inputs that
+  already exist.
+- Pose runs use `cargo run --manifest-path v2/Cargo.toml` with the working
+  directory set to the checkpoint directory, default
+  `v2/target/ruview-train/<mode>`. The trainer's relative `logs/` therefore
+  never lands in the source tree.
+- Without `confirm` it returns a plan. MCP requires `workspace-write` plus
+  `confirm`.
+- Failures are classified with remedies:
+  - libtorch absent;
+  - libtorch version mismatch (tch 0.24 expects torch 2.11.0);
+  - link failure.
+
+## Evidence
+
+- **SYNTHETIC** (`npx @ruvnet/ruview train --mode pose-smoke --samples 16
+  --confirm`, CPU PyTorch 2.11.0, `LIBTORCH_USE_PYTORCH=1`, Linux x64): the
+  real trainer compiled, ran 20 epochs with early stopping, and wrote
+  safetensors checkpoints and `logs/training_log.csv` under
+  `v2/target/ruview-train/pose-smoke`. The trainer labels its own smoke
+  metrics "DO NOT REPORT". None are reported here.
+- With PyTorch 2.14.1 the tch 0.24 C++ shim failed to compile. The runner
+  classified this as a version mismatch rather than a missing install.
+- The gate is covered by `test/training.test.mjs`, including the leakage
+  patterns behind the retraction.
+
+## Consequences
+
+- A number can pass through the harness only with its baseline and split
+  attached. The gate does not verify the arithmetic that produced the input;
+  reviewers must still re-run the reproducer.
+- Training needs the Rust toolchain and a matching libtorch. `doctor` covers
+  Rust; libtorch is detected at run time.
@@ -0,0 +1,66 @@
+# ADR-372: Structured debugging doctor
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: diagnostics, onboarding, support, mcp
+- **Related**: ADR-369, ADR-370, ADR-371, docs/TROUBLESHOOTING.md
+
+## Context
+
+Most failed RuView setups come down to a missing driver, pyserial, esptool, a
+wrong port, uninitialized submodules, a missing wasm32 target, or a sensing
+server that is not running. The old `doctor` checked only the harness itself,
+gave no remedies, and had no machine-readable output for agents.
+
+## Decision
+
+`src/doctor.js` returns
+`{ok, summary{pass,warn,fail,skip}, checks[{group,id,status,detail,remedy}], nextSteps}`.
+
+Groups:
+
+| Group | Checks |
+|---|---|
+| `runtime` | Node ≥ 20 |
+| `harness` | packaged-file manifest integrity, claim-guardrail self-test, reviewed brain load |
+| `hosts` | `claude` / `codex` on PATH |
+| `repo` | checkout, workspace submodules |
+| `rust` | cargo, wasm32 target (run inside `v2/` so the pinned toolchain is used), `wifi-densepose` binary |
+| `python` | interpreter, pyserial, esptool version |
+| `firmware` | checksum verification of every `release_bins` bundle |
+| `serial` | pyserial port enumeration; optional named port; optional chip probe |
+| `sensing` | optional sensing-server `/health` |
+| `kernel` | optional `@ruvnet/ruview-kernel` WASM/napi status |
+
+Rules:
+
+- `fail` is reserved for a requested capability that cannot work. Absent
+  optional tooling is `warn`. Every non-pass check carries a remedy. The CLI
+  exit code is non-zero only on `fail`.
+- The doctor is read-only. Two exceptions exist, both CLI/SDK options that are
+  absent from the MCP schema:
+  - `--probe` runs `esptool chip_id`, which resets the board but writes
+    nothing.
+  - `--url` makes an HTTP(S) request.
+- Output is human-readable by default. `--json` gives the structured report.
+  `--group a,b` limits the scope.
+
+## Evidence
+
+Development container (Linux x64, Node 22):
+
+- Before `pip install pyserial esptool`, the doctor reported them as `warn`
+  with the exact pip commands.
+- After installation it showed `esptool 5.4.0` and enumerated `/dev/ttyS0`.
+- All four firmware bundles verified.
+- It caught manifest drift during development, and a missing wasm32 target
+  when run outside `v2/`. That second case led to the `v2/` working-directory
+  rule.
+
+## Consequences
+
+- Support threads can ask for `npx @ruvnet/ruview doctor --json`, and agents
+  can act on `nextSteps`.
+- Checks run real subprocesses, so a full run takes seconds; `--group` keeps
+  targeted runs fast.
@@ -0,0 +1,244 @@
+# ADR-373: Host device access layer — ESP32, mmWave, LiDAR
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: hardware, esp32, mmwave, lidar, serial, udp, mcp, least-authority
+- **Related**: ADR-018 (CSI frame), ADR-063 (mmWave fusion), ADR-320
+  (sensor HAL), ADR-369 (npm operator surface), ADR-370 (flashing),
+  ADR-374 (remote hosts), `integrations/iphone-lidar`
+
+## Context
+
+Operators and agents need to answer basic hardware questions, such as "is the
+node streaming?", "is the radar talking?" and "does the LiDAR see the room?",
+before calibration, fusion or training. Until now each modality had its own
+tool:
+
+- the ESP32 serial monitor;
+- `scripts/mmwave_fusion_bridge.py`;
+- the iPhone LiDAR web relay;
+- the sensing server itself.
+
+None of these was reachable through the npm harness, its MCP server or its
+SDK.
+
+The package must stay free of runtime dependencies (ADR-263). Node has no
+serial API. Hardware access is also authority: an MCP client should not get
+it by default.
+
+## Decision
+
+Add `src/devices/` to `@ruvnet/ruview` (0.7.0) with four read-oriented tools.
+
+| Tool | Transport | What it returns |
+|---|---|---|
+| `ruview_devices_scan` | pyserial port list | ports with USB VID:PID, bridge chip, likely roles (esp32 / mmwave / rplidar), and the command that confirms each role |
+| `ruview_esp32_capture` | `node:dgram` UDP, receive-only | per node: packet counts by kind (magics `0xC5110001`–`0xC5110007`), CSI rate, sequence loss, RSSI, antennas/subcarriers/frequency, latest device vitals |
+| `ruview_mmwave_read` | serial | MR60BHA2 (60 GHz, 115200) and LD2410 (24 GHz, 256000) frames, checksum errors, presence, distance, device-reported heart and breathing rate |
+| `ruview_lidar_read` | serial or WebSocket | RPLIDAR SCAN summary (points, revolutions, range, angular coverage), or iPhone relay depth statistics |
+
+### Rules
+
+1. **Firmware-identical parsing.**
+   - The MR60BHA2 and LD2410 parsers are ports of
+     `firmware/esp32-csi-node/main/mmwave_sensor.c`: same SOF, `~XOR` header
+     and data checksums, 30-byte payload cap, and F4F3F2F1…F8F7F6F5 framing.
+   - ESP32 packets are parsed as the little-endian structs in `csi_collector`
+     and `edge_processing.h`.
+   - Host and node therefore agree on what a valid frame is.
+2. **Serial without dependencies.** A fixed Python script (the pyserial
+   "pump") reads the port for a bounded time and number of bytes.
+   - Port, baud, duration and command bytes are passed as argv and validated
+     first: the port regex, a fixed baud set, and command bytes of at most 64
+     hex bytes.
+   - Output is lowercase hex, so the secret-redaction layer cannot corrupt
+     binary data.
+   - DTR control is best-effort and reported when a port does not support it.
+3. **Receive-only network.**
+   - The ESP32 capture binds a local UDP port (bind address from a fixed set,
+     port ≥ 1024) and never sends to a node.
+   - `EADDRINUSE` is reported as "sensing server already bound".
+4. **Minimal actuation.** An RPLIDAR scan sends `A5 20` (start) and `A5 25`
+   (stop), and drives DTR low (the A1 motor). It spins the motor but writes no
+   configuration. Nothing else is written to any device.
+5. **No raw sensor data in results.**
+   - iPhone depth frames are validated with the same rules as
+     `integrations/iphone-lidar/web/codec.mjs` and reduced to statistics.
+   - The relay token comes only from `RUVIEW_LIDAR_TOKEN`. It is rejected in
+     the URL and never echoed.
+6. **Authority.**
+   - All four tools require the new `device-access` MCP grant.
+   - The CLI and SDK run them directly, as trusted local code.
+   - Serial port names are pattern-checked in the schema and again in the
+     driver. `/dev/pts/*` is deliberately excluded: it could read another
+     terminal's input.
+7. **Evidence.**
+   - A successful read is tagged `MEASURED` as a *reading* on this host.
+   - mmWave vitals are labelled as the radar's own estimates.
+   - None of these outputs is an accuracy claim.
+
+## Evidence
+
+Development container, Linux x64, Node 22. No physical sensors were attached.
+
+- **ESP32 UDP**: a simulated node sent 60 ADR-018 CSI frames plus 3 vitals
+  packets to `127.0.0.1:5005` through `ruview esp32`.
+  - Result: 1 node, CSI rate 15 Hz, zero sequence loss, vitals decoded
+    (15.2 bpm / 69 bpm, SYNTHETIC).
+  - Unit test on real loopback: 2 dropped sequence numbers out of 7 produce a
+    loss fraction of 0.2857.
+- **MR60BHA2**, emulated on a pseudo-terminal and read through real pyserial:
+  - auto-detected `mr60bha2`;
+  - 200 frames, 0 checksum errors;
+  - presence 1.0, distance 87 cm, 14.8 / 68.5 bpm (the emulator's values,
+    SYNTHETIC).
+- **RPLIDAR**, emulated on a pseudo-terminal that answers `A5 20`:
+  - 3564 points, 99 revolutions, full angular coverage;
+  - the missing DTR support was reported.
+- **iPhone LiDAR**, the real relay (`integrations/iphone-lidar/web/relay.mjs`)
+  with a simulated phone:
+  - 30 frames at 10 fps, median depth 1.824 m (SYNTHETIC);
+  - a wrong token gives `connect_failed` with a remedy.
+- **Not yet done**: real ESP32-S3/C6, MR60BHA2, LD2410, RPLIDAR and iPhone
+  captures. Each modality needs one real capture before its parser is called
+  hardware-validated.
+
+## Amendment 1 (2026-10-01): e2e suite and latency
+
+- `harness/ruview/test/e2e/devices.e2e.mjs` (`npm run test:e2e:devices`, CI
+  workflow `ruview-device-e2e.yml`) automates the emulated-device runs above
+  through the real CLI:
+  - MR60BHA2 and RPLIDAR on pseudo-terminals, read via real pyserial;
+  - an ESP32 UDP node;
+  - the real iPhone relay.
+- The harness still refuses `/dev/pts/*` port names. The suite links each pty
+  to `/dev/ttyRUVIEWE2E<n>` with root or `sudo -n`.
+- `RUVIEW_E2E_REQUIRE=1` turns missing prerequisites into failures.
+- mmWave auto-detect keeps its probe frames (≤ 2 s per model) and reads only
+  the remainder of the window. A 5 s request previously cost about 9 s.
+- `ruview_lidar_read` (iPhone) gains `max_frames` and returns immediately on
+  a refused connection.
+- MEASURED wall time for the device e2e suite on the development container:
+  19.6 s before these changes, 5.6 s after (concurrent cases, no redundant
+  re-reads).
+
+## Amendment 2 (2026-10-01): Realtek nodes, honest capture, live analysis
+
+Driven by a hardware run of this branch against an RTL8721Dx board (PL2303GC,
+COM10) and an ESP32-C6 (CP210x, COM16) on Windows 11:
+
+- **Realtek RAC1/RHB1 (ADR-323).** `ruview_esp32_capture` decodes the 49-byte
+  RAC1 envelope (8- and 16-bit tones, CRC-32 verified, SYNTHETIC flag kept)
+  and counts RHB1 heartbeats per sender. Before this, 3,439 live RAC1 frames
+  in 15 s were all reported as unknown.
+- **No false success.** The capture now fails with `no_decodable_packets`
+  or `heartbeat_only` when packets arrive but none decode. It previously
+  returned `ok: true` with a MEASURED label for zero decoded packets.
+  `heartbeatOnlySenders` names boards that are alive but deliver no CSI — the
+  stall observed on a Realtek board before a reset.
+- **More ESP32 packet kinds.** ADR-110 sync (`0xC511A110`) and ADR-081 mesh
+  envelopes (`0xC5118100`, counted by message type, never a phantom node).
+  A node sending several CSI shapes (the C6 sends 1x256, 1x64 and 1x128)
+  reports each in `csiShapes` instead of only the last one.
+- **Live CSI → kernel.** `--analyze` runs the busiest (or `--node-id`) node's
+  dominant single-antenna shape through `@ruvnet/ruview-kernel` at the
+  measured arrival rate, with a bounded frame buffer (`analyze_max_frames`,
+  default 6,000). Results are signal-processing estimates with no reference.
+- **Serial monitor no longer reboots nodes.** The monitor opens the port with
+  DTR/RTS deasserted. MEASURED on the C6: uptime kept rising across a monitor
+  run (1,612 s → 1,625 s); before, opening the port reset it (uptime ~15 s).
+  It takes `--baud` (Realtek logs at 1,500,000) and explains the C6/S3
+  USB-Serial/JTAG console when the UART is silent.
+- **Device scan.** Prolific `067B:23A3` (PL2303GC) is classified `realtek`.
+- **Windows.** The hosts file gets an owner-only ACL (`icacls`), failing
+  closed; POSIX `0o600` is ignored on Windows. The symlink-escape test skips
+  only where Windows refuses to create symlinks.
+- **Parser speed.** Int8Array view and `sqrt` instead of per-byte reads and
+  `Math.hypot`: MEASURED 0.42–0.52 M → 1.33–1.67 M packets/s (about 3.2x;
+  three interleaved runs, median of seven each, Windows 11 x64, Node 24).
+
+Hardware evidence (MEASURED, this host): C6 node 42, 45 s, 1,160 packets,
+1,157 decoded, 0 sequence loss, 541 1x256 frames at 12.1 Hz analyzed by the
+napi kernel (integrity verified). The RAC1 decoder is cross-checked against
+the Rust `realtek-csi-sim` encoder (200/200 frames at 8- and 16-bit tones);
+a live RAC1 re-run is pending reconnection of the Realtek board.
+
+Real flash (MEASURED, same C6, COM16): `ruview flash --variant c6 --confirm`
+with the checksum-verified `release_bins/c6-adr110` bundle wrote 4 images
+(hash verified by esptool, NVS kept: node 42 rejoined). The boot log showed
+13 CSI callbacks, the MGMT+DATA upgrade and no panic. After boot, `monitor`
+saw CSI without a reset (uptime 36 s → 62 s) and the UDP capture decoded
+183/183 packets with zero loss. The run exposed one more Windows bug, now
+fixed: the boot-log capture wrote decoded text to a cp1252 stdout (the
+scrubbed child env) and aborted on the firmware's U+2192 log character, so
+`bootLog.captured` was false and an earlier abort would have hidden the CSI
+evidence. It now writes raw bytes; a regression test forces cp1252.
+
+Live RTL8721Dx re-run (MEASURED, board 4 on COM10, node 3, alongside the C6):
+`devices` classified COM10 as `realtek`; a 20 s capture decoded 7,404/7,404
+packets (6,959 RAC1 frames at 348 Hz, RSSI −38.9 dBm, 200 RHB1 heartbeats);
+`monitor --baud 1500000` saw 62 CSI log lines and did not reset the board
+(sequence kept rising, 80,856 → 88,257). `--analyze --node-id 3` ran 12,549
+live frames at a measured 313.7 Hz through the WASM kernel (integrity
+verified). The board also exposed a loss-accounting bug carried over from the
+original code: one stray sequence value (+52,835, then straight back) was
+counted as 52,834 lost frames, giving 97% "loss". The tracker now treats a
+single out-of-window value as a stray, needs two agreeing frames to accept a
+counter reset, and lets a late packet fill its own gap. Against ground truth
+(unique sequence numbers over the span, 15 s): 4,783/4,783 present, true loss
+0, 9 strays — the tracker reported loss 0 and 9 strays.
+
+## Amendment 3 (2026-10-01): ESPHome radar kits and CSI buffer starvation
+
+- **ESPHome source for radar.** The Seeed MR60BHA2 kit (a XIAO ESP32-C6 with
+  the 60 GHz radar) runs ESPHome, which owns the radar UART. Raw frames never
+  reach USB, so `mmwave --model auto` correctly returned `no_valid_frames`.
+  `ruview_mmwave_read` now takes `source: "esphome"` with a `host`.
+  - **Client:** a dependency-free, read-only client for the plaintext ESPHome
+    native API (TCP 6053) runs hello → connect → device info → list entities
+    → subscribe states for a bounded window. It never sends a command.
+  - **Roles:** presence, heart, breathing, distance and target count are
+    found by entity name. The result uses the same summary fields as the
+    serial path.
+  - **Decoding:** ESPHome's `missing_state` flag and proto3 zero defaults are
+    honoured, so absent readings are excluded rather than averaged as 0.
+  - **Address policy:** hosts must resolve to private, link-local, CGNAT
+    (Tailscale) or loopback addresses.
+  - **Unsupported cases:** encrypted (Noise) and password-protected APIs are
+    reported as unsupported.
+- **Live kit (MEASURED, 192.168.1.102, ESPHome 2026.9.0, project
+  `seeedstudio.mr60bha2_kit` `spaces-1.0`).**
+  - The kit had been configured for an out-of-range SSID. It was moved to
+    the operator's network through its own captive portal, without
+    reflashing.
+  - A 15 s read returned 154 state updates:
+    - presence: detected, 1 target;
+    - mean distance: 40.0 cm;
+    - device-reported heart rate: mean 75.3 bpm;
+    - device-reported breathing rate: mean 10.7 bpm.
+  - These are firmware-computed values, not validated against a reference.
+- **Realtek heartbeat-only stall: root cause.** Reading the stalled board's
+  console without a reset showed continuous `[WLAN-W] lack of csi buf!` /
+  `csi buf not enough`.
+  - The radio produces CSI reports, but the firmware does not return report
+    buffers, so CSI stops while heartbeats continue.
+  - `ruview monitor` now counts these lines and fails with
+    `csi_buffer_starvation`. Observed live: 399 lines in 8 s, 0 CSI.
+  - The lasting fix belongs in the RTL8721Dx firmware (outside this
+    repository).
+- **Views.** Radar results render in the terminal UI and in the console
+  widget (`ruview_mmwave_read` is now a UI tool). Both label vitals
+  "device-reported, not validated".
+
+## Consequences
+
+- One command per modality works across CLI, MCP and SDK, with actionable
+  failures (`pyserial_missing`, `port_open_failed`, `no_valid_frames`,
+  `port_in_use`, `connect_failed`).
+- Python and pyserial become the serial dependency. `doctor` reports both.
+- The package's unpacked-size ceiling rises to 320 KiB (from 224 KiB) in
+  both npm workflows, with the published package still free of runtime
+  dependencies.
+- Follow-up: feed these readers into `ruview-hal` observations (ADR-320)
+  for fusion.
@@ -0,0 +1,78 @@
+# ADR-374: Remote host access over SSH (read-only)
+
+- **Status**: proposed
+- **Date**: 2026-09-30
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: remote, ssh, hardware, least-authority, mcp
+- **Related**: ADR-369, ADR-373
+
+## Context
+
+RuView hardware usually hangs off a different machine from the one the
+operator or agent works on: a Raspberry Pi next to the ESP32s, a NUC running
+the sensing server, a Cognitum Seed. Cloud agent sessions cannot reach local
+USB at all.
+
+"Host access" should not mean opening a new network service with its own
+credentials: that adds attack surface and secret handling. Operators already
+have SSH.
+
+## Decision
+
+1. **Where work runs.**
+   - Hardware tools always execute on the machine the hardware is attached
+     to.
+   - Interactive work runs in a local Claude Code session on that machine. It
+     can be driven from the Claude app through Remote Control
+     (`claude remote-control` in the repo).
+   - Other machines are reached over SSH.
+2. **Hosts registry.**
+   - Stored in `~/.config/ruview/hosts.json` (directory 0700, file 0600).
+   - Written only by the CLI: `ruview hosts add --name --ssh [--port]
+     [--version]`. MCP can list hosts but never add them.
+   - Names must match `^[a-z0-9][a-z0-9-]{0,31}$`. Targets must be
+     `[user@]hostname`: no options, spaces, shell metacharacters or leading
+     dash.
+3. **Transport.**
+   - Local ssh arguments: `ssh -o BatchMode=yes -o ConnectTimeout=10 -o
+     StrictHostKeyChecking=yes -T [-p N] -- <target> <command>`.
+   - No password prompts, and no trust-on-first-use from the tool. The
+     operator pins the host key once interactively.
+   - The remote command is `npx -y @ruvnet/ruview@<exact version> call <tool>
+     --read-only --args-json <json>`, with every token single-quoted for the
+     remote POSIX shell.
+4. **Read-only, twice.**
+   - Locally, `ruview_host_run` accepts only tools that are read-only, use no
+     credentials, and are not `ruview_host_*` (no host hopping). It validates
+     arguments against the tool schema before sending.
+   - Remotely, `call --read-only` repeats the check and schema validation.
+   - Flash, train, calibrate and Cognitum Spaces reads are never forwarded.
+5. **Grants.** Over MCP, `ruview_host_run` needs `remote-host` plus the
+   remote tool's own grant (for example `device-access`).
+6. **Failures** are classified with remedies: `host_key_unverified`,
+   `ssh_auth_failed`, `host_unreachable`, `remote_node_missing`,
+   `unknown_host`, `remote_tool_not_allowed`.
+
+## Evidence
+
+Tests in `harness/ruview/test/remote.test.mjs` cover:
+
+- host-entry injection cases (`-oProxyCommand=…`, `;`, spaces, `$(…)`,
+  backticks);
+- quoting, verified by running the quoted command through a real `sh`;
+- the refusal list;
+- grant composition;
+- the file mode;
+- `call --read-only` refusing `ruview_node_flash` through the real CLI.
+
+No SSH server was available in the development container, so a live
+round-trip to a real host is still to be done.
+
+## Consequences
+
+- Remote hosts get the same tools with no new daemon, port or credential
+  store.
+- The remote needs Node 20+ and npm registry access (or a pre-installed
+  version), and `ssh` must be on the local PATH. `doctor --group remote`
+  checks the local side.
+- Remote mutations stay manual by design.
@@ -0,0 +1,202 @@
+# ADR-375: MCP Apps console, HTTP transport and terminal UI for `@ruvnet/ruview`
+
+- **Status**: proposed
+- **Date**: 2026-10-01
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: npm, mcp, mcp-apps, chatgpt, ui, cli, http, least-authority, performance
+- **Related**: ADR-263 (harness hardening), ADR-265 (distribution and size
+  budget), ADR-369 (operator surface and SDK), ADR-373 (device access),
+  ADR-374 (remote hosts)
+
+## Context
+
+The harness exposes one tool registry through the CLI, an MCP stdio server and
+an SDK (ADR-369). Hardware testing of the device tools (ADR-373 Amendment 2)
+showed three gaps in how results reach people and models:
+
+- **MCP results were text only.** Every tool returned pretty-printed JSON in a
+  text block, with no `structuredContent`. The server declared protocol
+  `2024-11-05`, and `resources/list` was always empty, so MCP Apps hosts and
+  ChatGPT had nothing to render.
+- **ChatGPT could not connect.** ChatGPT connectors reach MCP servers over
+  HTTPS. The harness spoke stdio only.
+- **The CLI printed raw JSON to humans.** A live capture of two nodes was a
+  1.2 kB JSON object in the terminal, with alerts such as heartbeat-only
+  senders easy to miss.
+
+Reference implementations for the target hosts (the `web-based-chatgpt-mcp-starter`
+and `signal-to-swarm` sites) declare a `ui://` HTML resource and point UI tools
+at it through both the MCP Apps key (`_meta.ui.resourceUri`) and the ChatGPT
+keys (`openai/outputTemplate`, `openai/widgetAccessible`).
+
+The package must stay free of runtime dependencies (ADR-263) and inside a
+reviewed size budget (ADR-265).
+
+## Decision
+
+### 1. One console widget, two host families
+
+`src/ui/console-widget.js` holds one self-contained HTML resource,
+`ui://ruview/console-v1.html`, with mimeType `text/html;profile=mcp-app`.
+
+- **Tools.** `ruview_esp32_capture`, `ruview_devices_scan` and `ruview_doctor`
+  carry `_meta.ui.resourceUri`, `ui/resourceUri`, `openai/outputTemplate` and
+  `openai/widgetAccessible`.
+- **Data intake.** The widget reads results from either host family:
+  - MCP Apps: a `ui/initialize` handshake over `postMessage`, then
+    `ui/notifications/tool-input` and `ui/notifications/tool-result`;
+  - ChatGPT: `window.openai.toolOutput` and the `openai:set_globals` event.
+- **Refresh.** A Refresh button re-runs the same tool with the same
+  arguments, through `window.openai.callTool` or an MCP Apps `tools/call`
+  request.
+- **Safety.**
+  - The resource declares an empty CSP allowlist and makes no network
+    requests.
+  - Every value reaches the DOM through `textContent`; there is no
+    `innerHTML`.
+  - Messages are accepted only from the parent frame.
+  - A test pins all of this.
+- **Design.** The visual language follows the reference sites: dark ground,
+  `#d0ff72` accent, monospace labels, and plain wording about what each value
+  is. Device vitals are labelled "device-reported (not validated)". Kernel
+  outputs carry the "no reference measurement" note, and SYNTHETIC frames
+  raise a warning.
+
+### 2. Structured results and protocol negotiation
+
+- **Protocol negotiation.** `initialize` negotiates `2025-06-18`,
+  `2025-03-26` or `2024-11-05`, and advertises `resources`.
+- **Result shape.** `tools/call` returns `structuredContent` (always an
+  object), a text block with the same JSON in compact form, and
+  `_meta['ruview/tool']` set to the canonical tool name (so an aliased call
+  still refreshes correctly).
+- **Compact text.** Compact rather than pretty-printed JSON cuts each result
+  by 17–33% (MEASURED on this host: guidance 17.5%, device scan 20.7%, live
+  capture 33.4%). Clients that read only `content` still receive the
+  complete result.
+- **Titles.** Tools gain `title` and `annotations.title`.
+
+`handleRpc` is transport-neutral, and `createDispatcher` holds the FIFO tool
+chain both transports share (ADR-263 O2).
+
+### 3. Streamable HTTP transport
+
+`ruview mcp start --http [--host 127.0.0.1] [--port 8790] [--allow-origin URL]`
+starts `src/mcp-http.js`.
+
+- **Authentication on every request.** A request must carry either
+  `Authorization: Bearer <token>`, or the secret-path form `/mcp/<token>`.
+  The second exists because ChatGPT connectors cannot send a static header.
+  - Tokens are compared in constant time and must be at least 16 characters.
+  - The token comes from `RUVIEW_MCP_TOKEN`, never argv. If unset, one is
+    generated and printed once to stderr.
+- **Least authority.**
+  - It binds to loopback by default.
+  - Browser `Origin`s are refused unless allowlisted (DNS-rebinding defence).
+    Server-to-server clients send no Origin.
+  - `workspace-write` and `hardware-write` are never honoured over HTTP, even
+    when granted in `RUVIEW_MCP_GRANTS`. Flashing and calibration stay
+    stdio/CLI-only.
+- **Protocol surface.**
+  - POST only; single JSON responses with no SSE stream and no sessions.
+  - Batches and unsupported `MCP-Protocol-Version` values are refused.
+  - Bodies are capped at 256 KiB.
+  - Notifications return 202.
+  - `/healthz` reports only the name and version.
+
+Exposing the port to ChatGPT (a tunnel or reverse proxy with TLS) is the
+operator's choice. The startup banner says so and warns on a non-loopback
+bind.
+
+### 4. Terminal UI
+
+`src/cli-ui.js` renders results for a TTY:
+- aligned tables, with unicode rate bars;
+- colour that respects `NO_COLOR` and `TERM=dumb`;
+- alerts and fixes ahead of the data;
+- a stderr countdown for timed captures.
+
+Pipes and `--json` keep receiving exact JSON. `ruview call` always prints
+JSON, because remote hosts parse it.
+
+`ruview esp32 --watch [--seconds 3]` redraws repeated capture windows with a
+per-node rate sparkline.
+
+`ruview monitor` now flags Ameba CSI report-buffer starvation (`lack of csi
+buf` / `csi buf not enough`). This is the root cause of the Realtek
+heartbeat-only stall, observed live: 399 starvation lines in 8 s, 0 CSI.
+
+### 5. Startup
+
+- **Launcher split.** `bin/cli.js` is a thin launcher, and `src/cli.js` loads
+  the tool registry, doctor, brain, host adapters and transports on demand.
+- **Measured effect.**
+  - `--help`/`--version`/`skills` skip the registry: about 20% faster, median
+    of 9 interleaved runs against the previous build on this host (MEASURED).
+  - The MCP path needs the whole registry to list tools, so its start time is
+    unchanged within noise.
+- **Compile cache rejected.** Node's on-disk compile cache
+  (`module.enableCompileCache`) was evaluated: module load was 27.7 ms with
+  it and 28.5 ms without (25 interleaved runs, MEASURED). That is within
+  noise, so it was not adopted.
+
+### 6. Size budget
+
+The additions cost about 38 kB:
+- widget, 12.6 kB;
+- HTTP transport;
+- terminal UI;
+- CLI split.
+
+The `@ruvnet/ruview` unpacked budget rises from 320 KiB to 384 KiB in
+`npm-packages.yml` and `ruview-npm-release.yml`. The package is about 338 kB.
+
+## Evidence
+
+All on Windows 11 x64, Node 24, with an ESP32-C6 (CP210x, COM16) and an
+RTL8721Dx (PL2303GC, COM10) attached. All results MEASURED unless noted.
+
+**Browser e2e.** A real MCP Apps host flow in headless Chrome:
+- The host lists tools and reads the `ui://` resource over HTTP MCP, then
+  loads it in a sandboxed iframe (`allow-scripts` only).
+- It answers `ui/initialize` and delivers a live `ruview_esp32_capture`
+  result.
+- The widget's Refresh button triggered a second real capture through the
+  host (108 → 105 packets).
+- The devices and doctor views rendered, in dark and light themes. The only
+  console error was the test host's own missing favicon.
+
+**Security probes** against the live HTTP server:
+- no token: 401;
+- wrong token: 401;
+- foreign Origin: 403;
+- GET: 405;
+- `ruview_node_flash` with `hardware-write` granted in the environment:
+  `authority_denied`.
+
+**Tests.**
+- `npm test`: 160 pass, 1 skip.
+- `test:security`: 83 pass, 1 skip.
+- New suites: `mcp-apps.test.mjs` (protocol, metadata, widget safety, HTTP
+  auth/origin/size/write denial) and `cli-ui.test.mjs` (renderers, colour
+  rules, the starvation detector run against a stand-in serial module).
+
+**Tarball smoke** from a clean install:
+- CLI and SDK work;
+- stdio MCP negotiates `2025-06-18` and serves the widget and structured
+  results;
+- HTTP MCP lists 22 tools, 3 with `ui://` metadata.
+
+## Consequences
+
+- MCP Apps hosts and ChatGPT render node streams, device scans and
+  diagnostics instead of raw JSON, and can refresh them in place.
+- Remote MCP clients can use the read tools over authenticated HTTP. Write
+  tools remain local by construction.
+- Each tool result costs fewer model tokens.
+- The widget is a second place where result shapes are interpreted. Changes
+  to the capture, devices or doctor result shapes must update it, and its
+  version suffix (`console-v1`) changes when the contract does.
+- Host behaviour for MCP Apps and ChatGPT keys is followed as documented by
+  the reference implementations. A live ChatGPT connector session (public
+  HTTPS URL) has not been run yet: CLAIMED, pending.
@@ -0,0 +1,142 @@
+# ADR-376: `ruview` — one npm install for every RuView component
+
+- **Status**: proposed
+- **Date**: 2026-10-01
+- **Deciders**: rUv (requested and approved the release); RuView maintainers
+- **Tags**: npm, packaging, umbrella, mcp, homecore, kernel, release
+- **Related**: ADR-263 (harness hardening), ADR-265 (distribution, D2 CI-only
+  publishing, D4 bin ownership), ADR-285 (Homecore metaharness), ADR-368
+  (kernel), ADR-369 (operator surface), ADR-373 (device access), ADR-375 (MCP
+  Apps console, HTTP transport, terminal UI)
+
+## Context
+
+RuView is positioned as an ambient intelligence platform rather than a sensor.
+Its sensing is ahead of comparable packaged options; packaging is the
+bottleneck. Today the capabilities are split across three packages:
+
+| Package | Contents | Published before this ADR |
+|---|---|---|
+| `@ruvnet/ruview` | operator harness | 0.5.1 |
+| `homecore` | Homecore developer metaharness | never |
+| `@ruvnet/ruview-kernel` | WASM vitals kernel | never |
+
+The unscoped name `ruview` was unclaimed. A user has to know all three
+packages, install them separately, and run three CLIs and two MCP servers.
+
+## Decision
+
+1. **The umbrella.** Publish an unscoped `ruview` package
+   (`harness/ruview-umbrella`). It depends on exact versions of the three
+   component packages and adds no capability of its own:
+   - **CLI.** One binary, `ruview`:
+     - `ruview homecore …` → the Homecore CLI;
+     - `ruview kernel <doctor|info|selftest|parity|synth|analyze|bench>` → the
+       kernel CLI;
+     - bare `ruview kernel [--backend …]` keeps its harness meaning (the
+       SYNTHETIC self-test);
+     - `ruview capabilities` lists every component, version and tool;
+     - everything else goes to the `@ruvnet/ruview` CLI unchanged.
+   - **MCP server.** One server, `ruview mcp start [--http]`. It serves the
+     harness tools (`ruview_*`, including the `ui://` console) plus the
+     Homecore tools (`homecore_*`, already prefixed, so no collision).
+     - Non-Homecore traffic goes to the harness handler, so the harness
+       authority model, grants and HTTP rules (ADR-375) apply unchanged.
+     - Homecore calls go to Homecore's `runTool`, with Homecore's own
+       policy.
+2. **Bin ownership (amends ADR-265 D4).** The `ruview` command name moves to
+   the umbrella. `@ruvnet/ruview`'s bin is renamed `ruview-harness`.
+   - **Why:** a clean-directory tarball install showed the collision. With
+     both packages declaring `ruview`, `node_modules/.bin/ruview` linked to
+     the harness CLI, so `ruview capabilities` and `ruview homecore` failed.
+     Which package wins that link is not guaranteed.
+   - **Unaffected:** `npx @ruvnet/ruview …` still works, because npx runs a
+     package's only bin whatever its name. The umbrella delegates every
+     non-umbrella verb to the harness, so `ruview <verb>` behaves as before.
+   - **Changed:** a global install of `@ruvnet/ruview` alone now provides
+     `ruview-harness`.
+3. **Harness changes needed to embed it** (no new runtime dependencies):
+   - **New exports:** `./cli`, `./cli-ui`, `./mcp`, `./mcp-http`, `./ui`,
+     `./esphome` and `./kernel`.
+   - **Injectable MCP handler:** `run(args, { mcpHandler })` and
+     `startMcpServer({ handler })`, so the merged server reuses the stdio and
+     HTTP transports.
+   - **Kernel declared as an optional peer:** `@ruvnet/ruview-kernel`.
+   - **`setKernelImporter`:** lets the umbrella resolve the kernel from its
+     own dependency tree. Node resolves bare specifiers from the importing
+     file's real path, which misses a sibling dependency under linked or
+     pnpm-style installs.
+     - Found while testing: `kernel_not_installed` through a linked umbrella.
+     - Only embedding code can call it; MCP arguments cannot choose the
+       module.
+   - **Homecore** gains a `./cli` export; **the kernel** gains `./cli`.
+4. **Versions for this release.**
+
+   | Package | Version | Notes |
+   |---|---|---|
+   | `@ruvnet/ruview` | 0.8.0 | 0.7.0 was never published |
+   | `homecore` | 0.1.0 | first publish |
+   | `@ruvnet/ruview-kernel` | 0.1.0 | first publish; WASM only |
+   | `ruview` | 0.8.0 | umbrella |
+
+   The kernel ships WASM only. The napi backend stays optional and absent,
+   because a workstation build would cover only win32-x64. `loadKernel({
+   backend: 'auto' })` reports the honest fallback.
+5. **Publishing exception (one-off, amends ADR-265 D2 for this release).**
+   - rUv explicitly chose a local `npm publish` from the operator
+     workstation (ruvzen) over the CI-only release workflow.
+   - Packages are published in dependency order: kernel → homecore →
+     @ruvnet/ruview → ruview.
+   - Each is published only after its full gate passes locally (tests,
+     security tests, manifest, version-literal and pack-content/size gates),
+     plus a clean-directory tarball install and smoke test of the umbrella.
+   - These versions carry no npm provenance attestation.
+   - Subsequent releases return to the CI workflow. Adding `ruview` and
+     `@ruvnet/ruview-kernel` to `ruview-npm-release.yml` is follow-up work.
+
+## Release outcome (2026-10-01)
+
+**Published from ruvzen** (exact tarballs that passed the clean-directory
+smoke test; sha256 in the release thread):
+
+| Package | Version |
+|---|---|
+| `@ruvnet/ruview-kernel` | 0.1.0 |
+| `homecore` | 0.1.0 |
+| `@ruvnet/ruview` | 0.8.0 |
+
+All three were re-installed from the registry and smoke-tested:
+- `npx -y @ruvnet/ruview@0.8.0` works;
+- the harness self-test resolves the published kernel;
+- a live ESPHome radar read succeeded.
+
+**`ruview` was refused by npm:** `403 Forbidden — Package name too similar to
+existing package iview` (typosquat protection).
+- The umbrella is ready in `harness/ruview-umbrella`. Until npm support grants
+  the name, it is unpublished.
+- If the request is declined, the fallback is a scoped name
+  (`@ruvnet/ruview-platform`).
+
+## Consequences
+
+- `npx ruview` is the single entry point for operators and agents. One MCP
+  connector gives an agent, or ChatGPT, every RuView and Homecore tool.
+- The component packages stay independently installable and testable.
+  `@ruvnet/ruview` remains free of runtime dependencies.
+- The umbrella pins exact component versions, so each component release needs
+  an umbrella release to reach `npx ruview` users.
+- The local publish trades provenance for speed for this release only. The
+  exception is recorded here and in the #swarm coordination thread.
+
+## Evidence
+
+- **Umbrella tests:** 4/4, covering CLI dispatch to all three components,
+  merged MCP tool listing and routing, the harness authority model through
+  the merged server, and stdio and HTTP transports.
+- **Component gates:**
+  - harness: 166 tests, 89 security tests;
+  - Homecore: 27 tests, 23 security tests;
+  - kernel: 21 tests, 3 skipped native cases; 12 security tests;
+  - all manifests verified, 0 audit findings.
+- **Clean-directory tarball smoke:** recorded in the release commit and the
+  #development post.
@@ -0,0 +1,101 @@
+# ADR-377: `ruview-live` — a Claude Code mod shipped inside `@ruvnet/ruview`
+
+- **Status**: proposed
+- **Date**: 2026-10-01
+- **Deciders**: rUv (requested integration into the npm package); RuView maintainers
+- **Tags**: claude-code, mods, function-hooks, ui, npm, least-authority
+- **Related**: ADR-373 (device access), ADR-375 (MCP Apps console, terminal UI),
+  ADR-376 (umbrella package); Claude Code mods (function hooks): the
+  claude-code issue 91870 and the `mods/` built-ins (`diff` is the closest
+  analogue)
+
+## Context
+
+Claude Code mods are plugins whose behaviour is a function-hooks module: one
+`register(on, options)` that hooks engine events as `($, e, next)`. They can:
+- register slash commands;
+- open panes beside the transcript and draw them with the surface's elements;
+- set a status line;
+- run processes through `$.process.run`.
+
+That fits RuView's goal of putting the live state of the sensors where an
+operator or agent already works.
+
+RuView already has:
+- a read-only CLI with `--json` results (ADR-373, ADR-375);
+- an MCP server and the ChatGPT/MCP Apps console;
+- a plugin marketplace in this repository.
+
+## Decision
+
+1. **Ship a mod, `ruview-live`, inside `@ruvnet/ruview`** (`mod/`, packaged
+   files `mod/.claude-plugin/`, `mod/hooks/`).
+   - It is listed in the repository marketplace as `ruview-live@ruview`, with
+     source `./harness/ruview/mod`.
+   - One copy serves both installs: the npm package and the marketplace.
+2. **Behaviour.**
+   - **`/ruview`** toggles a pane (`ruview-live`). While it is open, a
+     `$.clock.every` timer (default 15 s, minimum 5 s) runs one read-only
+     capture.
+   - **`/ruview refresh`** runs one capture and returns the summary.
+   - **`/ruview off`** closes the pane.
+   - **The pane** shows nodes (rate, loss, RSSI, shape, SYNTHETIC flag), the
+     optional ESPHome radar (presence, distance, device-reported vitals), and
+     alerts, including heartbeat-only boards with the CSI-buffer-starvation
+     hint. It has Refresh (`r`) and Close (`c`) buttons.
+   - **The status line** is set on every refresh.
+3. **Data comes only from the harness CLI beside the mod.**
+   - The mod runs `node <plugin root>/../bin/cli.js esp32 … --json` and
+     `mmwave --source esphome … --json`, as fixed argv arrays, through
+     `$.process.run`. So the pane shows what the tested tools return.
+   - Mods may import nothing but their own files and `claude-code` (the
+     validator refuses `node:url`). The CLI is therefore located through
+     `$.plugin.root`.
+4. **Least authority.**
+   - The mod never runs a write verb (flash, calibrate, train). A unit test
+     pins the argv.
+   - The radar host is validated before use.
+   - Options are bounded: ports 1024–65535, refresh ≥ 5 s, capture 1–10 s.
+5. **Discovery.** `ruview mod` (and `ruview mod --json`) prints the installed
+   path, the `claude --plugin-dir` command, the marketplace commands, usage,
+   settings, and the early-access note.
+
+## Evidence
+
+All on Claude Code 2.1.286, Windows 11 x64.
+- **Validation:** `claude plugin validate harness/ruview/mod` passes. It lists
+  hooks `session.start`, `command.run{ruview}`, `ui.render{Pane}`,
+  `ui.close{ruview-live}` and `session.end`, and calls `$.clock.every`,
+  `$.clock.now`, `$.command.register`, `$.process.run` and `$.ui.*`.
+  `claude plugin validate .` passes for the marketplace.
+- **Engine tests:** `claude plugin test harness/ruview/mod`, with
+  `CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1`, passed 2/2 in three consecutive
+  runs. They check:
+  - `/ruview` opens the pane and runs the exact read-only argv;
+  - the status reads `RuView · 2 nodes · 1 alert`;
+  - the timer refreshes while open and **never after close**;
+  - an honest `no_packets` status.
+- **Harness unit tests:** `test/mod.test.mjs`, 6/6, under plain Node:
+  settings bounds, host validation, argv, failure parsing, model/status, pane
+  drawing and button wiring, and the no-imports rule.
+- **Real engine, headless (MEASURED):**
+  `claude --plugin-dir ./mod -p "/ruview refresh"` answered
+  `RuView · 0 nodes · 1 alert` (no CSI node was streaming). With `radarHost`
+  set to the live Seeed MR60BHA2 kit, it answered
+  `RuView · 0 nodes · radar clear · 1 alert`.
+- **Note:** under Git Bash a leading `/ruview` is rewritten into a Windows path
+  unless `MSYS_NO_PATHCONV=1` is set. This is not an issue inside the Claude
+  Code prompt.
+
+## Consequences
+
+- An operator sees node and radar health beside the conversation without
+  asking for it. Agents see the same facts through MCP.
+- **Mods are early access.** The API may change between Claude Code releases,
+  and hooks modules load only where function hooks are enabled. The mod is
+  therefore optional, and nothing else in the package depends on it.
+- **Trust.** Like every mod, it runs inside Claude Code with Claude Code's
+  access. It is read-only by construction, and the README says to install it
+  only from a trusted source.
+- A refresh binds UDP 5005 for the capture window. While the sensing server
+  holds the port, the pane reports `port_in_use` instead of reading.
@@ -0,0 +1,144 @@
+# ADR-378: `ruview-live` showcase views — CSI waterfall, radar fan, animated cells
+
+- **Status**: proposed
+- **Date**: 2026-10-01
+- **Deciders**: rUv ("make this a showcase … the art of the possible for mods"); RuView maintainers
+- **Tags**: claude-code, mods, ui, raster, animation, csi, radar, honesty
+- **Related**: ADR-377 (the `ruview-live` mod), ADR-373 (device access),
+  ADR-375 (terminal UI), ADR-018 / ADR-323 (CSI formats)
+
+## Context
+
+ADR-377 shipped `/ruview`: a pane of cards built from text and sparklines. The
+mod engine can do much more on the terminal surface:
+
+- `Raster` is a grid of cells, each with a glyph and a 24-bit foreground and
+  background.
+- `$.ui.blit` repaints a mounted Raster in place, up to 60 frames a second,
+  without redrawing the tree.
+- Buttons take hotkeys.
+
+The pane only showed summaries. It never showed the signal itself: per-subcarrier
+CSI amplitude over time, or the radar's range as geometry.
+
+## Decision
+
+### Three views, keys `1` `2` `3`
+
+| View | What it draws | Data |
+|---|---|---|
+| Overview | the ADR-377 cards | unchanged |
+| CSI waterfall | subcarrier bins across, time down; two frames per text row through `▀` (foreground = upper frame, background = lower); 5th–95th percentile colour limits with a colour bar | `ruview esp32 --spectrum` (new) |
+| Radar | top-down 120° fan: range rings, a fading trail of past distances, the current distance as an arc; braille line charts of heart, breathing and distance | ESPHome radar kit (ADR-373) |
+
+`n` cycles nodes in the waterfall when more than one streams. The live views
+refresh every `liveRefreshSeconds` (default 4, range 2–60); the overview keeps
+`refreshSeconds`.
+
+### Harness: `--spectrum`
+
+`captureEsp32` and the `ruview_esp32_capture` tool take three new arguments:
+
+- `spectrum`: boolean;
+- `spectrum_bins`: 8–128, default 48;
+- `spectrum_frames`: 8–256, default 64.
+
+A `SpectrumCollector` keeps a ring of the newest frames for each node and CSI
+shape. It averages each frame's amplitudes into equal bins, and reports the
+dominant shape per node with its arrival rate and `synthetic` flag. The
+collector is read-only and bounded (8 nodes), and it adds nothing to a capture
+that does not ask for it.
+
+### Animation with `$.ui.blit`
+
+One 80 ms timer (about 12 fps) repaints only these keyed Rasters:
+
+- **shimmer**: a highlight sweeping along the rule under the title. Pure
+  decoration.
+- **pulse**: a ♥ that beats at the device-reported heart rate and a gauge that
+  fills and empties at the device-reported breathing rate. It is labelled *a
+  metronome, not a waveform*.
+- **fan**: a sonar ring that leaves the sensor and reaches the measured range.
+- **waterfall replay**: frames arrive a capture at a time, so the view drains
+  them at their measured arrival rate instead of jumping every refresh. It is
+  labelled *replayed at the arrival rate*.
+
+The first paint and every frame come from the same function (`picturesOf`). A
+test asserts that each picture keeps its size across frames, because a blit of
+another size is refused.
+
+Blits are fire-and-forget: a blit resolves only once a frame is painted, and
+the surface folds blits between frames anyway.
+
+### Honesty rules (CLAUDE.md)
+
+- The waterfall says **MEASURED — live CSI amplitude received on this host** or
+  **SYNTHETIC — simulator frames**, from the packets' own flag.
+- The radar view states *range only: this kit reports distance, not bearing*.
+  The arc covers every bearing at that range; nothing implies a position.
+- Vitals stay *device-reported, not validated*. Values outside 40–180 bpm
+  (heart) or 4–40 bpm (breathing) are flagged.
+- Chart scales fit the data so a rhythm is visible. The plausible band is
+  shaded only where it overlaps the scale.
+- Surfaces without `Raster` (desktop, VS Code, mobile) get a note in the
+  showcase views instead of a tree the surface would refuse. The overview works
+  everywhere.
+- Only nodes in the latest capture stay in the waterfall. A node that stops
+  streaming, or a failed capture, clears its frames, so old frames are never
+  shown as live. Frames join across captures only when the CSI shape and bin
+  count both match.
+- Multi-antenna ESP32 nodes are drawn from their first chain. ADR-018 lays the
+  tones out antenna-major; this applies to the waterfall only, and the vitals
+  kernel still takes single-chain frames.
+- Animation runs on the real clock, the same one the full render reads. The
+  pulses keep the reported rates even when a frame fires late.
+
+### Structure
+
+Mods may import only their own files, so the hooks module is split into:
+
+- `model.mjs`: settings, argv, results, model and history (pure);
+- `raster.mjs`: Grid, base64, colour map, waterfall, braille, radar fan, line
+  chart (pure);
+- `anim.mjs`: frame functions of time (pure);
+- `views.mjs`: drawing;
+- `register.mjs`: wiring, timers and blits. It re-exports the rest so tests
+  import one module.
+
+## Evidence
+
+- **MEASURED** (real silicon, 2026-10-01):
+  - Hardware: an ESP32-C6 on COM11, flashed with the hardware-verified
+    `release_bins/c6-adr110` image (v0.7.0; SHA-256 checked) and provisioned to
+    ruv.net, node 6.
+  - Boot log: `Got IP: 192.168.1.103` and `UDP sender initialized:
+    192.168.1.45:5005`.
+  - Captures: `ruview esp32 --spectrum` received 29–50 frames per 2 s at 7–18
+    Hz and −37 to −78 dBm, in 1×64 and 1×256 shapes.
+  - Waterfall: a 1×256 capture rendered as 114 bins showing the occupied band
+    against guard and null tones.
+  - Reproducer: `npx @ruvnet/ruview esp32 --seconds 4 --spectrum --json` with
+    a node targeting the host.
+- **MEASURED** (device-reported): the Seeed MR60BHA2 kit at 192.168.1.102 drives
+  the radar view.
+- **SYNTHETIC**: the `realtek-csi-sim` simulator exercises the waterfall in
+  development; its frames carry the synthetic flag and the view says so.
+- **Tests**:
+  - 11 mod tests and 11 showcase tests: Grid/base64 against Node's encoder,
+    colour map monotone, waterfall ordering, braille bits, fan scaling and
+    ping, chart scaling, frame functions, constant picture sizes, MEASURED and
+    SYNTHETIC labels, surfaces without Raster;
+  - a loopback test of `--spectrum`;
+  - 4 engine tests (`claude plugin test mod`), including the waterfall tab
+    sending `--spectrum`, drawing the Raster and animating it with blits.
+
+## Consequences
+
+- The package grows by about 37 KB. The reviewed unpacked ceiling rises from
+  384 KiB to 448 KiB in `npm-packages.yml` and `ruview-npm-release.yml`. There
+  are still no runtime dependencies.
+- The live views poll more often: a 2 s capture every 4 s by default. A
+  capture binds the UDP port briefly, so a sensing server on the same port
+  still reports `port_in_use`, as in ADR-377.
+- The animation timer runs only while the pane is open, and stops on close and
+  session end.
@@ -0,0 +1,199 @@
+# ADR-379: An OTA'd image confirms itself with a bounded health check, or rolls back
+
+**Status:** Proposed. Hardware-verified on 2026-09-29 on an ESP32-S3 (node 4) and an ESP32-C6 (node 5).
+**Date:** 2026-09-29
+**Numbering:** On 2026-10-02 `main` had up to ADR-378 and open PRs claimed
+nothing higher. If another branch also takes 379, renumber whichever merges
+second.
+
+## Context
+
+Every 16 MB node was flashed with `CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y`
+(`sdkconfig.defaults.16mb`). With that option the bootloader starts a freshly
+OTA'd image in `ESP_OTA_IMG_PENDING_VERIFY`. The app must then call
+`esp_ota_mark_app_valid_cancel_rollback()`. If it doesn't, the bootloader marks
+the image `ABORTED` at the next reset and boots the previous slot.
+
+Nothing in `firmware/esp32-csi-node/main` made that call, and `nm` on the ELF
+confirmed the symbol was not linked. RUNBOOK.md said an
+`ota_rollback_boot_check()` "sits in the app", but no such function existed
+anywhere in the tree. The consequences:
+
+- An image delivered by `POST /ota` ran until the next reset, then reverted
+  silently. OTA updates were not durable.
+- While the image was pending, `esp_ota_begin()` refused a second OTA with
+  `ESP_ERR_OTA_ROLLBACK_INVALID_STATE`.
+- Nothing checked health, so a bad image was never rolled back on purpose. It
+  only reverted if it happened to crash or be power-cycled.
+
+A second defect meant none of this was ever reached: **OTA never succeeded
+on this firmware before this change.** MEASURED on 2026-09-29, on node 4 (an
+ESP32-S3 running the v0.8.12 16 MB build, with the OTA key provisioned):
+
+- A `POST /ota` of a valid 1,228,672 B image logged `OTA update started`, then
+  `stack overflow in task httpd`, then `rst:0xc RTC_SW_CPU_RST`. The node came
+  back on its old slot. Both attempts failed the same way.
+- The cause: the server used `HTTPD_DEFAULT_CONFIG()`, which gives a 4096 B
+  task stack. The handler held a 1 KB receive buffer on that stack, while
+  calling `esp_ota_*` and formatting a float progress log.
+
+## Decision
+
+At boot, `ota_health_start()` (in `main/ota_health.c`, called early in
+`app_main`) reads the running partition's state:
+
+| state | meaning here | action |
+|---|---|---|
+| `PENDING_VERIFY` | just OTA'd, rollback armed | run the health check |
+| `VALID` | USB-flashed with `ota_data_initial.bin` (the bootloader writes VALID), or already confirmed | nothing |
+| `UNDEFINED` | selected by a build without rollback; boots unconditionally | nothing |
+| `NEW` | bootloader lacks rollback, so it never promoted the image | nothing |
+| error (`NOT_FOUND`/`NOT_SUPPORTED`) | no otadata entry, or factory partition | nothing |
+
+For this table I read the ESP-IDF v5.5 source: `bootloader_utility.c`
+(`set_actual_ota_seq`, the NEW to PENDING_VERIFY to ABORTED transitions) and
+`esp_ota_ops.c`.
+
+**The health check.** A low-priority task polls once a second and feeds
+`ota_health_step()`, which is a pure function in `ota_health.h`:
+
+- **Signals, both latched:** the STA got an IP (`IP_EVENT_STA_GOT_IP`, via
+  `ota_health_note_got_ip()` in `main.c`'s handler), and the stream sender
+  accepted at least one CSI frame (`csi_collector_get_send_ok_count() > 0`).
+  The second signal covers driver callback, serialization and `sendto()`
+  together.
+- **Minimum uptime** `CONFIG_OTA_HEALTH_MIN_UPTIME_S` (default 30 s): the image
+  is not confirmed before this point even with both signals present. An image
+  that crashes soon after starting its pipelines still reverts, because a crash
+  while pending is a rollback.
+- **Deadline** `CONFIG_OTA_HEALTH_TIMEOUT_S` (default 120 s, measured from
+  boot). Both signals are required by then. The minimum uptime is clamped to
+  the deadline.
+- **Pass:** `esp_ota_mark_app_valid_cancel_rollback()`, which logs
+  `marked valid after <reason> in <ms> ms`.
+- **Fail:** logs `health check failed: <reason>, rolling back`, then calls
+  `esp_ota_mark_app_invalid_rollback_and_reboot()`. If no other bootable slot
+  exists, that call returns an error. The node then logs and stays up rather
+  than reboot-looping.
+- **Terminal verdict:** once the check has confirmed or rolled back, it never
+  changes.
+
+**Negative-test hook.** `CONFIG_OTA_HEALTH_FORCE_FAIL` (default n, test only)
+makes the check roll back at the point where it would have confirmed. Use it to
+prove rollback end to end.
+
+**Remote visibility.** `GET /ota/status` now includes `ota_state` (`valid`,
+`pending_verify`, `new`, `undefined`, `other`, or `none`). An operator can
+confirm durability without a serial console.
+
+**The httpd stack.** The OTA/WASM HTTP server now sets `config.stack_size =
+CONFIG_OTA_HTTPD_STACK_SIZE`, which defaults to 8192. Three smaller changes go
+with it:
+
+- The OTA receive buffer is static rather than on the stack. Handlers run one
+  at a time on the single httpd task, so one buffer is enough.
+- The progress log prints an integer percent instead of a float.
+- `GET /wasm/list` keeps its 2 KB JSON buffer on the heap, not the stack.
+
+`recv_wait_timeout` stays at 30 s. Each `POST /ota` and `POST /wasm/upload` now
+logs `httpd stack after <handler>: N of M bytes never used`, so the size can
+be re-tuned from device measurements.
+
+Sizing: this is an estimate from static data, not a device measurement. It
+comes from a `-fstack-usage` build of the S3 16 MB configuration with IDF v5.5.
+
+- **Frame sizes along the OTA path** (bytes):
+
+  | function | bytes |
+  |---|---|
+  | `httpd_thread` | 144 |
+  | `httpd_sess_process` | 32 |
+  | `httpd_req_new` | 176 |
+  | `httpd_uri` | 64 |
+  | `ota_upload_handler` | 192 (1,216 with the old 1 KB buffer) |
+  | `esp_ota_end` | 48 |
+  | `image_validate` | 304 |
+  | `esp_image_verify` | 32 |
+  | `image_load` | 80 |
+  | `process_segments` | 112 |
+  | SHA-256 | about 110 |
+  | mmap/flash read | about 190 |
+
+- That chain comes to about 1.5 KB now, and about 2.5 KB with the old buffer.
+- Two things are not in the static data:
+  - libc's `vfprintf` behind every `ESP_LOG`. This build uses full newlib,
+    not nano, and the old progress line formatted a float.
+  - The flash-chip driver, which is reached through function pointers.
+
+  Together they plausibly add 1 to 1.5 KB. That explains an overflow at 4096
+  with the old handler.
+- The WASM upload path adds `wasm_upload_process` (336) and
+  `rvf_verify_signature` (352), plus a wasm3 module load that wasn't measured.
+- 8192 leaves roughly 4 to 5 KB above the estimated worst case, and costs
+  4 KB of internal RAM. The high-water-mark log is the check on that estimate.
+
+When the build has no `CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE` (the 8 MB S3 and
+4 MB C6 CI lanes), both entry points compile to no-ops.
+
+## Consequences
+
+- OTA updates become durable on rollback-enabled nodes once the image passes
+  the check. A second OTA is accepted after confirmation, which can come as
+  early as `MIN_UPTIME_S`.
+- A bad image now reverts instead of limping, but "bad" only means it failed
+  to reach the network or deliver CSI. An image that passes and then
+  misbehaves later is not caught.
+- If the AP is down when a node boots an OTA'd image, a good image rolls back.
+  That is the safe direction: push it again later.
+- Mock/QEMU builds that skip Wi-Fi can never pass. They must not enable
+  bootloader rollback, and none do today.
+- Bootloader capability is still invisible remotely (RUNBOOK §2). A node
+  whose bootloader lacks rollback reports `ota_state: "new"` after an OTA. That
+  is the first remote hint of which bootloader a board has.
+
+## Evidence
+
+- Host test `firmware/esp32-csi-node/test/test_ota_health.c` runs in
+  `make host_tests`, which CI runs. It covers pass, each timeout reason, the
+  terminal verdict, force-fail, the clamp, and zero soak. SYNTHETIC: it
+  exercises the decision function, not a device.
+- ESP-IDF v5.5 S3 and C6 builds with rollback enabled link
+  `esp_ota_mark_app_valid_cancel_rollback` (verified with `nm`). A build is not
+  hardware evidence.
+- The httpd overflow is MEASURED on hardware (node 4, above).
+- Hardware verification, MEASURED on 2026-09-29 on node 4 (ESP32-S3,
+  16 MB, rollback bootloader, OTA key provisioned). The
+  build from this branch was first written over USB. The pushes were made from
+  a Pi 5 with the `sensor-ota-push` cog.
+  1. Positive (MEASURED, S3). An image built from this branch was pushed to `ota_1`: HTTP 200,
+     1,230,848 B in 22 s.
+     - The node logged "httpd stack after POST /ota: 4900 of 8192 bytes never
+       used", so the upload's peak stack use is about 3.3 KB. With the old 1 KB
+       on-stack buffer that is over 4 KB, which is consistent with the
+       overflow.
+     - It rebooted and logged "OTA image pending verify on ota_1".
+     - `/ota/status` then read `ota_state: valid`.
+     - After a hard reset it came back on the same build in `ota_1`, still
+       `valid`, so the update is durable.
+  2. Negative (MEASURED, S3 forced-fail rollback). A `CONFIG_OTA_HEALTH_FORCE_FAIL=y` build was pushed to `ota_0`:
+     HTTP 200.
+     - `/ota/status` showed it running as `pending_verify` for about 30 s.
+     - The node then rebooted and came back on the previous build in `ota_1`,
+       `valid`, so rollback works.
+  3. One push attempt failed mid-upload when a serial capture was opened on the
+     node's USB-Serial-JTAG port at the same moment. The node reset and was
+     unharmed. Don't hold the USB console open while pushing OTA to a
+     USB-attached node.
+- C6 positive, MEASURED on 2026-09-29 on node 5 (ESP32-C6, 8 MB
+  flash, 4 MB layout, rollback bootloader).
+  - The branch build was first written over USB and the OTA key provisioned.
+  - A second build was pushed from the Pi 5 cog to `ota_1`: HTTP 200 in 11 s.
+  - `/ota/status` showed `pending_verify`, then `valid` about 28 s later.
+  - After a hard reset it stayed on the new build, `valid`.
+- Not yet verified, so CLAIMED (no log supports these):
+  - the 120 s no-IP timeout path (CLAIMED);
+  - a true power cycle (CLAIMED; a hard reset via RTS was used instead);
+  - the C6 negative/rollback test (CLAIMED; run on the S3 only).
+- A pass of this check means only that the node reached the network and sent
+  CSI. It does not validate sensing quality, calibration, or anything else the
+  image does.
@@ -0,0 +1,58 @@
+# ADR 380: Loopback UDP tee for second consumers of the CSI stream
+
+## Status
+
+Proposed. Unit tested, and smoke tested on loopback: a datagram sent to the
+server arrived byte for byte at the tee target. Not yet exercised against a
+live multi node fleet.
+
+Date: 2026-09-28
+
+Numbering: On 2026-10-02 `main` had up to ADR 378 and open PRs claimed nothing
+higher; ADR 379 is the OTA first-boot health check. If another branch also
+takes 380, renumber whichever merges second.
+
+## Context
+
+A five node deployment (four ESP32 S3, one ESP32 C6) streams ADR 018 frames to
+one sensing server. A second consumer cannot see the raw stream.
+
+Each node sends to a single `target_ip` (`firmware/esp32-csi-node/main/stream_sender.c`).
+The server's WebSocket and REST outputs carry per node amplitude only: no
+phase, no I/Q, no sequence number, and no `0xC511A110` sync packets. A fusion
+host that aligns CSI with camera, radar, or lidar needs all of those. Binding a
+second listener to the CSI port is not an option, and an external relay in
+front of the port would make every source loopback, which the ADR 296
+allowlist always admits.
+
+## Decision
+
+`--udp-tee` (env `RUVIEW_UDP_TEE`) copies every datagram the source allowlist
+admits, byte for byte, to up to four `ip:port` targets.
+
+- Targets must be loopback, so raw CSI never leaves the host through the tee.
+- A target may not use port 0 or the listener's own port, which would loop.
+- Sends are non blocking. A copy that cannot be queued is dropped and counted,
+  so a slow consumer never stalls the receive loop.
+- The copy happens after the ADR 296 allowlist check and before any parsing,
+  so consumers see exactly what the server admitted, in every wire format.
+- The tee is off unless configured.
+
+## Consequences
+
+A fusion host or Cognitum cog can subscribe to the full data plane by reading
+a loopback port. A consumer that today binds the CSI port itself can keep its
+code and move to the tee port instead.
+
+The tee is byte transparent, so it needs no change when the ADR 018 header or
+a later wire version changes.
+
+Each target costs one `send_to` per admitted datagram. Four targets is the
+limit.
+
+## Validation
+
+```bash
+cd v2
+cargo test -p wifi-densepose-sensing-server --no-default-features --lib udp_tee
+```
@@ -0,0 +1,272 @@
+# ADR-381: Node self-survey from pairwise ranging (check mode first)
+
+- **Status**: Proposed
+- **Date**: 2026-10-04
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: node-positions, ranging, ftm, uwb, multistatic, least-authority
+- **Related**: ADR-018 (ESP32 wire format), ADR-110 (ESP-NOW time sync),
+  ADR-141 (privacy control plane), ADR-144 (UWB range-constraint fusion),
+  ADR-281 (BLE Channel Sounding ranging evidence), ADR-308 (placement
+  optimizer), rufield ADR-261 (BLE evidence and Channel Sounding adapter
+  boundary, `vendor/rufield/docs/ADR-261-ble-evidence-and-channel-sounding.md`)
+- **Issues and PRs**: #1804, #1866, #2109 (show which nodes use the default
+  position), #2133 (give the governed fuser the configured node positions)
+
+## Context
+
+Node positions reach the sensing server only through `--node-positions`. The
+operator types it by hand, keyed by node id (`id:x,y,z;...`) or by list index
+when the prefix is omitted. Three kinds of mistake pass silently today:
+
+- **Wrong ids.** A config keyed by ids that do not match the live nodes looks
+  applied and does nothing (#1804, #1866). #2109 makes the fallback to the
+  default position visible, and #2133 makes sure both fusers receive the
+  map. Neither can tell whether a correctly-keyed position is *right*.
+- **Wrong units.** Positions measured in feet and typed as metres are 3.28×
+  too large. Nothing checks the scale.
+- **Stale positions.** A node moved after setup keeps its old coordinates.
+
+Each one degrades multistatic fusion without an error. The repository has no
+node-to-node ranging and no anchor-free solver. ADR-144 models
+anchor-to-*tag* UWB ranges for people tracking
+(`wifi-densepose-mat/src/localization/range_constraint.rs`), not ranges
+between the fixed nodes themselves. ADR-281 computes BLE Channel Sounding
+ranging evidence, but there is no CS-capable radio in the fleet: rufield
+ADR-261 notes that the ESP32-S3 does not implement CS.
+
+The ESP32-S3 and C6 nodes do support Wi-Fi Fine Timing Measurement (802.11mc
+RTT, station initiator ↔ SoftAP responder) in mainline ESP-IDF. So a ranging
+source exists on hardware we already have. The question is how good it is.
+
+### What FTM measured
+
+Bench, 2026-10-04 (UTC): two ESP32-S3 boards (rev v0.2), ESP-IDF v5.5
+`examples/wifi/ftm`, SoftAP responder on channel 1 at 20 MHz, 32 FTM frames
+per session, line of sight, tape ground truth. All rows MEASURED; the
+reproducer is in Appendix A.
+
+| Tape (m) | Result |
+|---|---|
+| 0.00 | median 0.00 m |
+| 0.76 | median 0.00 m. Readings clamp to 0 below about 0.8 m. The first three sessions after a responder start read 1.8 to 3.0 m |
+| 1.14 | five responder starts: medians 0.60, 1.50, 2.25 and 3.08 m, plus a 7.7 m run at −68 dBm with a 1.92 m session spread (placement outlier) |
+| 3.71 | median 7.80 m (one start) |
+
+- **Precision within one responder start:** ±0.2 to 0.4 m (standard
+  deviation 0.19 to 0.31 m). A 40-session run over about two minutes showed
+  no drift beyond that.
+- **Bias between responder starts:** −0.5 to +1.9 m at 1.14 m, with the
+  boards untouched. A plain-versus-auto-start responder A/B test showed the
+  responder build is not the cause.
+- **Quantisation:** every distance is a multiple of 0.15 m (1 ns of RTT).
+- **Not tested:** 40 MHz, other channels, `ftm -R -o` offset calibration, a
+  second pair, non-line-of-sight, CSI coexistence, raw t1..t4 timestamps.
+
+FTM is precise inside one start and inaccurate across starts. It can catch
+mistakes worth metres. It cannot place a node to decimetres. UWB (Qorvo
+DW3000 family) is the expected accuracy path: about 0.1 m line of sight is
+CLAIMED by the vendor, and we have no measurement of our own yet.
+
+## Decision
+
+### 1. A source-agnostic `RangeObservation` record
+
+```text
+RangeObservation {
+    initiator: u8,             // node_id, as in --node-positions
+    responder: u8,
+    range_m: f64,              // session median
+    sigma_m: f64,              // session spread, 0 if unknown
+    method: Ftm | Uwb | BleCs | Manual,
+    samples: u16,              // valid frames / exchanges
+    rssi_dbm: Option<i16>,
+    bandwidth_mhz: Option<u16>,
+    at_us: u64,                // host receive time
+    responder_boot: Option<u32>,  // boot counter or nonce of the responder
+    calibrated: bool,          // set only by the host calibration step
+}
+```
+
+`responder_boot` is required for calibration. The FTM bias moved with every
+responder start, so an offset is only valid within the boot it was measured
+in.
+
+On the wire, nodes report ranges either in a new ADR-018-style packet with
+its own magic, or as an extension of the existing sync packet. This ADR does
+not choose between them. The host-side record and solver come first. The
+wire format follows the first firmware that emits ranges.
+
+### 2. Host-side check mode (warn-only)
+
+Given the configured positions and a batch of observations, check mode
+reports:
+
+- **Per-link residuals.** `measured − ‖p_a − p_b‖`, with a tolerance of
+  `floor + k·σ`. σ is the larger of the median session sigma and the spread
+  across sessions. Each link is `ok`, `outlier`, `too_short` (configured
+  length below the source's minimum), `weak` (every session below the RSSI
+  gate), or `noisy` (σ above the source's maximum).
+- **Unit mismatch.** A least-squares scale `s` in `measured ≈ s·expected`.
+  If `s` sits within a band of 0.3048 (feet), 0.0254 (inches), 0.01 (cm) or
+  0.001 (mm), and rescaling removes outliers, the check reports the unit.
+- **Id swap.** For up to 8 ranged nodes, it scores every assignment of the
+  configured positions to ids. The cost is a truncated quadratic in residual
+  over tolerance, so one bad link cannot dominate. If another assignment
+  cuts the cost to at most half and the configured cost is material, the
+  check suggests that assignment, reported as `(node, position_of)` pairs.
+- **Moved node.** If most of a node's links are outliers (at least 2, and a
+  strict majority), the node was probably moved. Outlier links left over are
+  reported one at a time as possible bias, a body or wall in the path, or a
+  bad session, and not as a configuration error.
+- **Unknown and unranged nodes.** Observations naming unconfigured ids, and
+  configured nodes that no scored link reaches.
+
+Distances do not change under rotation, reflection or translation, so check
+mode compares distances and never coordinates. Where the layout is
+symmetric, it says so instead of guessing:
+
+- A relabelling that is a symmetry of the layout is **invisible**. For
+  example, ids rotated 180° in a rectangle of corner nodes. Check mode
+  reports such a layout as consistent.
+- When several assignments fit equally well, check mode prefers the one that
+  changes the fewest ids, since a typo moves few. It reports how many
+  assignments tied. If the fewest-changes assignments are themselves tied,
+  as with a swap along one wall of a rectangle (its mirror image is the
+  opposite wall's swap), it reports `id_swap_ambiguous` and names nothing.
+
+Corner-mounted nodes in a rectangular room are the common case and are
+nearly symmetric. Operators should expect ambiguity reports there, and a
+fifth node off the axes removes most of them.
+
+**Authority.** Check mode never writes positions, never edits config, and
+never changes fusion. Its output is a report for the startup log and a
+read-only status field. The report shape is JSON-serialisable; the field
+name follows #2109's `node_positions` block once that lands.
+
+**Tolerances come from measured data:**
+
+| Source | `floor_m` | `calibrated_floor_m` | `max_sigma_m` | `min_expected_m` | Basis |
+|---|---|---|---|---|---|
+| FTM, ESP32-S3, 20 MHz | 2.0 | 0.6 | 1.0 | 1.0 | MEASURED, bench above: bias −0.5 to +1.9 m between starts; spread ≤ 0.31 m within a start (the 1.92 m outlier excepted); clamp below about 0.8 m |
+| UWB | 0.3 | 0.3 | 0.3 | 0.0 | ESTIMATE until our own UWB bench. Vendor accuracy is CLAIMED |
+
+With `floor_m = 2.0`, the one 3.71 m start (+4.1 m) would be flagged as a
+single-link outlier. That is uncalibrated FTM as it stands. Single-link
+outliers stay low-severity on purpose, and the strong findings (unit, swap,
+moved node) need several links to agree.
+
+### 3. Per-boot calibration
+
+An offset is recorded per `(initiator, responder, responder_boot)` from
+sessions at a known reference distance of at least 1.0 m:
+`offset = median(range) − reference`. It applies only to observations with
+the same key. After a responder reboot, observations pass through
+uncalibrated and get the wider floor.
+
+Zero-separation calibration (ESP-IDF's `cm0` / `ftm -R -o`) is not used,
+because short ranges clamp to 0 on this hardware. In practice, the reference
+is one tape-measured link per responder per boot, or a UWB link once UWB
+exists. That the bias is stable over a whole boot, and not only for two
+minutes, is untested (ESTIMATE). Measuring it is the first FTM follow-up.
+
+### 4. Fill mode, gated off
+
+Fill mode (solve positions with classical-MDS initialisation, weighted
+robust SMACOF and gauge fixing, then write a file the operator passes to
+`--node-positions`) is **not implemented** and stays disabled for a source
+until all of these hold:
+
+- the source has **MEASURED** link-error evidence with a reproducer;
+- the evidence covers at least 6 ground-truth links;
+- the p90 link error is **≤ 0.3 m**.
+
+FTM's measured errors are metres, so it fails this gate. UWB is expected to
+pass it, but that is unproven. Even when the gate opens, fill mode writes a
+proposal file. The server never rewrites its own positions.
+
+### 5. Pluggable sources
+
+Every source produces `RangeObservation`, and check mode does not care which
+one did. Only the tolerance profile changes.
+
+| Source | Status | How it plugs in |
+|---|---|---|
+| **FTM** (ESP32-S3/C6) | Now, for check mode | APSTA node runs a short scheduled survey window. One node is the SoftAP responder and the others initiate a directed session. `rtt_ns`, RSSI and session spread map to `range_m`, `rssi_dbm`, `sigma_m`. Airtime cost on the CSI channel is unmeasured |
+| **UWB** (DW3000 family, e.g. DWM3001CDK over USB) | After its own bench | Two-way ranging between nodes. Shares hardware with ADR-144's anchor-tag model, but node↔node ranges feed this ADR and anchor↔tag ranges keep feeding ADR-144 |
+| **BLE CS** | When a CS-capable radio exists | Through the rufield ADR-261 adapter boundary, using ADR-281's cross-validated phase/RTT ranging. A `Divergent` anomaly drops the observation. Single-mechanism evidence gets the wider floor |
+| **Manual** | Now | A taped distance entered by the operator. Mainly useful as the per-boot calibration reference |
+
+### 6. Prototype
+
+`v2/crates/ruview-survey` implements sections 1 to 4 on the host, with no
+I/O, no clock and no randomness, and bounded inputs: 64 nodes, 10 000
+observations, 100 m range, and the swap search capped at 8 nodes.
+Integration with the sensing server is a follow-up and depends on #2109 for
+where the report surfaces. The crate's tests are SYNTHETIC: generated layouts
+with FTM-like bias and noise from the envelope above. They cover consistent
+configs, feet and centimetre mistakes, a two-id swap, a three-id rotation,
+symmetric invisibility and ambiguity, a moved node, a bench-style single-link
+outlier, a noisy link, per-boot calibration, and the fill gate.
+`examples/check_ranges.rs` runs check mode on a JSONL file.
+
+## Consequences
+
+- An operator gets a warning when ranges and `--node-positions` disagree
+  grossly, with no new authority: check mode is read-only.
+- FTM on nodes needs APSTA and a SoftAP beacon on the sensing channel. Its
+  cost to CSI yield must be measured before the firmware side ships.
+- The FTM tolerances rest on one evening with one pair. They are parameters,
+  not constants, and must be revised from more data (40 MHz, more pairs,
+  non-line-of-sight).
+- Ranges between fixed nodes are not person data. Ranges to phones or tags
+  are, and remain under ADR-141 and ADR-144.
+- A symmetric layout can hide a relabelling entirely. Check mode documents
+  this and does not claim to catch it.
+
+## Evidence rule
+
+No self-survey accuracy claim without a MEASURED reproducer: tape or laser
+ground truth, at least 4 nodes, line of sight plus at least one
+non-line-of-sight case, every number tagged. The prototype's tests are
+SYNTHETIC and show logic, not radio performance.
+
+## Alternatives considered
+
+- **Treat FTM as accurate enough to fill positions.** Rejected: the measured
+  bias between starts (−0.5 to +1.9 m at 1.14 m) and the +4.1 m at 3.71 m
+  rule it out.
+- **Drop FTM.** Rejected for now. It costs nothing on existing hardware, it
+  catches metre-scale mistakes, and it may suit coarse gating, calibrated
+  pairs within a boot, and time sync. It is parked and revisited after UWB.
+- **Zero-separation `cm0` calibration.** Rejected: readings clamp to 0 below
+  about 0.8 m.
+- **Server auto-corrects positions.** Rejected under least authority. Fill
+  mode, when enabled, writes a proposal file only.
+- **LoRa SX1280 ranging, router (MT7981) FTM, raw I/Q phase ranging,
+  CSI-amplitude ranging.** Rejected or deferred: wrong distance regime, no
+  driver support, unproven, or too inaccurate respectively.
+
+## Open questions
+
+- Does one calibration offset hold for a whole responder boot? For both
+  roles? For other initiators against the same responder?
+- Is the post-start transient (1.8 to 3.0 m in the first three sessions at
+  0.76 m) real, and how long does it last?
+- Does 40 MHz shrink the bias between starts?
+- What does an FTM survey window cost in CSI frames on the same channel?
+- Can FTM t1..t4 timestamps be tied to the CSI timestamp clock for sync?
+- The wire format: new magic, or an extension of the sync packet?
+
+## Appendix A: FTM bench reproducer
+
+1. Flash ESP-IDF v5.5 `examples/wifi/ftm` on two ESP32-S3 boards
+   (`CONFIG_ESP_WIFI_FTM_ENABLE=y`, the example's default).
+2. Responder console: `ap <ssid> <password>` (channel 1, 20 MHz defaults).
+   Use throwaway credentials and do not commit them.
+3. Initiator console, at a taped separation: `ftm -I -s <ssid>`, 32 frames,
+   10 to 40 sessions per distance. Record `Avg raw RTT`, `Avg RSSI`,
+   `Estimated Distance` and the valid-frame count for each session.
+4. Reset the responder and repeat at the same distance to see the bias move
+   between starts.
+5. Report the median, spread and error per run, tagged MEASURED, with the
+   raw per-session data alongside.
@@ -0,0 +1,137 @@
+# ADR-382: `spatial.evidence.v1` export of RF Gaussians and link observations
+
+- **Status**: proposed
+- **Date**: 2026-10-03
+- **Deciders**: RuView maintainers
+- **Tags**: rf, gaussian, spatial, evidence, wire-format, interop
+- **Related**: ADR-273 (unified RF world model), ADR-275 (RF-aware Gaussian
+  memory), ADR-142 (temporal voxel evidence). Origin of the wire format:
+  WeftOS ADR-107 §7 ("Spatial evidence engine and workspace"), amended
+  2026-10-03.
+- **Crate**: `v2/crates/ruview-spatial-evidence`
+
+Numbering: on 2026-10-03 `main` had up to ADR-378, open PRs claimed 379
+and 380, and 381 was taken by another branch.
+
+## Context
+
+`ruview-unified` keeps a map of RF Gaussians (ADR-275) and a Friis channel
+model that turns a TX/RX link into an expected amplitude. A spatial evidence
+engine fuses many sensor types (tape measurements, radar, ToF, UWB, RF) into
+an occupancy octree and promotes stable geometry (walls, furniture) into room
+models. That engine reads a versioned JSONL format, `spatial.evidence.v1`,
+specified in WeftOS ADR-107 §7.
+
+RuView should be able to feed it without depending on it, and without a
+reader of this repository having to go to another project to learn what the
+export writes. This ADR records the part of the contract RuView emits.
+
+## Decision
+
+1. A leaf crate, `ruview-spatial-evidence`, converts `ruview-unified` output
+   to `spatial.evidence.v1` lines. Its only internal dependency is
+   `ruview-unified`. The wire shapes are local serde structs; the contract is
+   the JSON, not a shared crate.
+2. It emits two record types, `rf_gaussian` and `rf_link_observation`. It
+   does not mirror the other v1 types and rejects them as unknown when
+   parsing.
+3. Every record is validated against the v1 rules below before it is
+   serialised, so a bad value fails in RuView rather than in the consumer.
+4. If WeftOS ADR-107 §7 changes the envelope or either RF body, this ADR is
+   amended in the same change that updates the crate.
+
+### Envelope (every record)
+
+| Field | Rule |
+|---|---|
+| `schema` | exactly `spatial.evidence.v1` |
+| `type` | `rf_gaussian` or `rf_link_observation` here |
+| `t_ns` | u64, ns since the Unix epoch |
+| `frame` | `room_enu` |
+| `region` | region id, e.g. `region/urth/meso/<room>` |
+| `source_id` | device or operator id, never a person |
+| `uncertainty_m` | 1σ position uncertainty, metres, in (0, 100] |
+| `provenance` | `{receipt, producer, proof}`; `proof` is `MEASURED`, `CODE` or `SYNTHETIC` |
+
+Ids (`region`, `source_id`, `receipt`, `producer`) match
+`[A-Za-z0-9._:/-@]{1,128}`. A line is at most 16 KiB.
+
+**Frame.** `room_enu` is room-local, origin at the room's SW floor corner,
+x east, y north, z up, metres. Coordinates are within ±1000 m.
+
+**Angles.** Every yaw in v1 is degrees counter-clockwise from room +x
+(east): 0 faces +x, 90 faces +y. The two RF types have no yaw field. The
+`rf_gaussian` orientation is a body-to-room quaternion, and a positive
+rotation about +z turns the Gaussian's local x axis counter-clockwise from
+east, the same sense.
+
+### `rf_gaussian`
+
+| Field | Rule |
+|---|---|
+| `position` | [x, y, z] m |
+| `scale` | per-axis σ, m, each in [1e-6, 1e4] |
+| `orientation` | quaternion `[w, x, y, z]`, finite, norm > 1e-6 |
+| `occupancy` | peak extinction, nepers/m, in [0, 1e6] |
+| `confidence` | [0, 1] |
+| `motion` | `static`, `slow` or `fast` |
+| `role`? | `absorber` or `reflector`; set only on priors sent back to RuView |
+
+The exporter maps `RfGaussian` field for field. `uncertainty_m` is the
+geometric mean of the three σ, clamped to the envelope range, because
+`RfGaussian` has no separate position covariance. The receipt is
+`gauss:<device>:<t_ns>:<index>`. A Gaussian whose provenance is `synthetic`
+is always tagged `SYNTHETIC`; a caller can lower the proof tag, never raise
+it.
+
+### `rf_link_observation`
+
+| Field | Rule |
+|---|---|
+| `tx`, `rx` | antenna positions, m |
+| `freq_hz` | [1e8, 3e11] |
+| `excess_loss_db` | `20·log10(free / measured)`, in [−60, 200]; negative is constructive multipath |
+
+The free-space reference comes from `ruview-unified`'s channel model with an
+empty map, so it is the same Friis amplitude the ADR-275 inverse update uses.
+
+### Examples
+
+These two lines are the WeftOS ADR-107 §7 examples. The crate's tests parse
+them and check that its own output has the same shape.
+
+```jsonl
+{"schema":"spatial.evidence.v1","type":"rf_link_observation","t_ns":1759500001300000000,"frame":"room_enu","region":"region/urth/meso/test-room","source_id":"node-2","uncertainty_m":1.0,"provenance":{"receipt":"csi:node1-node2:000881","producer":"ruview-adapter@0.1","proof":"MEASURED"},"tx":[6.20,3.50,1.10],"rx":[0.20,0.20,1.10],"freq_hz":2437000000.0,"excess_loss_db":4.2}
+{"schema":"spatial.evidence.v1","type":"rf_gaussian","t_ns":1759500002000000000,"frame":"room_enu","region":"region/urth/meso/test-room","source_id":"ruview-unified","uncertainty_m":0.5,"provenance":{"receipt":"gauss:7f3a","producer":"ruview-unified@0.3","proof":"CODE"},"position":[3.2,0.0,1.2],"scale":[0.05,1.6,1.2],"orientation":[1,0,0,0],"occupancy":0.7,"confidence":0.8,"motion":"static","role":"absorber"}
+```
+
+### Versioning
+
+Additive optional fields may appear inside v1 and older readers ignore them.
+New record types may also be added inside v1 (the 2026-10-03 amendment added
+`tof_depth` and `radar_range`, and an optional `sensor` block on
+`radar_track_point`); a reader that does not know a type rejects it as
+unknown rather than misreading it. Removing, renaming or changing the
+meaning of a field requires `spatial.evidence.v2`, and the parser reports a
+v2 line as a version mismatch.
+
+## Consequences
+
+- RuView output can feed a spatial evidence engine with no new runtime
+  dependency, and the contract is readable from this repository.
+- The engine can send promoted walls and objects back as `rf_gaussian`
+  priors with a `role`. That gives ADR-275's inverse update a geometric
+  starting point instead of an empty map.
+- The struct definitions are duplicated between the two projects. The
+  golden-line tests catch drift in the RF types; a change on the WeftOS side
+  still needs someone to amend this ADR and the crate.
+
+## Limitations
+
+- Nothing calls the crate yet. The sensing server does not export records,
+  and there is no adapter that turns an inbound `rf_gaussian` prior into an
+  `RfGaussian` in the live map.
+- The tests are CODE-level (deterministic conversions and validation). No
+  MEASURED claim is made about what the exported evidence does to a room
+  model.
+- `uncertainty_m` for a Gaussian is a stand-in derived from its extent.
@@ -2,6 +2,24 @@

 Latest proposed decisions:

+- [ADR-379: An OTA'd image confirms itself with a bounded health check, or rolls back](ADR-379-ota-first-boot-health-check.md)
+- [ADR-380: Loopback UDP tee for second consumers of the CSI stream](ADR-380-loopback-udp-tee.md)
+- [ADR-382: `spatial.evidence.v1` export of RF Gaussians and link observations](ADR-382-spatial-evidence-rf-export.md)
+- [ADR-378: `ruview-live` showcase views — CSI waterfall, radar fan, animated cells](ADR-378-ruview-live-showcase-views.md)
+- [ADR-377: `ruview-live` — a Claude Code mod shipped inside `@ruvnet/ruview`](ADR-377-ruview-live-claude-code-mod.md)
+- [ADR-376: `ruview` — one npm install for every RuView component](ADR-376-ruview-umbrella-npm-package.md)
+- [ADR-375: MCP Apps console, HTTP transport and terminal UI for `@ruvnet/ruview`](ADR-375-ruview-mcp-apps-console-http-transport-and-terminal-ui.md)
+- [ADR-374: Remote host access over SSH (read-only)](ADR-374-remote-host-access-over-ssh.md)
+- [ADR-373: Host device access layer — ESP32, mmWave, LiDAR](ADR-373-host-device-access-layer.md)
+- [ADR-372: Structured debugging doctor](ADR-372-structured-debugging-doctor.md)
+- [ADR-371: Harness training runner and mean-pose evidence gate](ADR-371-harness-training-runner-and-evidence-gate.md)
+- [ADR-370: Cross-platform, verified ESP32 firmware flashing from npm](ADR-370-cross-platform-firmware-flashing.md)
+- [ADR-369: npm RuView operator surface — CLI, MCP, and SDK](ADR-369-ruview-npm-operator-surface-and-sdk.md)
+- [ADR-368: RuView compute kernel as a WASM + napi-rs npm package](ADR-368-ruview-kernel-wasm-napi-npm.md)
+- [ADR-367: Bounded research swarm and compute ownership](ADR-367-bounded-research-swarm-and-compute-ownership.md)
+- [ADR-366: CSI controls and frozen evaluation](ADR-366-csi-controls-and-frozen-evaluation.md)
+- [ADR-365: Public BFI dataset and decoder contract](ADR-365-public-bfi-dataset-and-decoder-contract.md)
+- [ADR-364: BFI capture admission and continuity](ADR-364-bfi-capture-admission-and-continuity.md)
 - [ADR-187: archive/v1 deprecation + model-weights honest labeling](ADR-187-archive-v1-deprecation-honest-labeling.md) (refs #509, #1125)
 - [ADR-186: Training progress API — wire the orphaned in-server trainer to /ws/train/progress](ADR-186-training-progress-api.md) (refs #1233)
 - [ADR-185: Python P6 SOTA bindings — AETHER, MERIDIAN, MAT](ADR-185-python-p6-sota-bindings.md)
@@ -9,7 +27,7 @@ Latest proposed decisions:
 - [ADR-264: Versioned wire protocol for RTL8720F CFR and Range-FFT reports](ADR-264-rtl8720f-radar-wire-protocol.md)
 - [ADR-263: Adopt RTL8720F 2.4 GHz FMCW radar as an optional RuView sensing platform](ADR-263-rtl8720f-2-4ghz-fmcw-radar-platform.md)

-This folder contains 210 Architecture Decision Records (ADRs) that document every significant technical choice in the RuView / WiFi-DensePose project. (The index tables below list a curated subset per domain; see the directory listing for the full set.)
+This folder records significant architectural choices in the RuView / WiFi-DensePose project. The index tables below list a curated subset per domain; see the directory listing for the full set.

 ## Why ADRs?

@@ -59,6 +77,7 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
 | [ADR-040](ADR-040-wasm-programmable-sensing.md) | WASM Programmable Sensing (Tier 3) | Accepted |
 | [ADR-041](ADR-041-wasm-module-collection.md) | WASM Module Collection (65 edge modules) | Accepted (hardware-validated) |
 | [ADR-044](ADR-044-provisioning-tool-enhancements.md) | Provisioning Tool Enhancements | Proposed |
+| [ADR-379](ADR-379-ota-first-boot-health-check.md) | OTA'd image confirms itself with a bounded health check (IP + CSI frame) or rolls back; OTA httpd stack sized from device data | Proposed (host-tested; hardware-verified on one S3 and one C6) |
 | [ADR-110](ADR-110-esp32-c6-firmware-extension.md) | ESP32-C6 firmware extension — Wi-Fi 6 / 802.15.4 / TWT / LP-core | Accepted, P1-P10 complete, firmware-side substrate closed at **[v0.7.0-esp32](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32)**. Companion docs: [`WITNESS-LOG-110`](../WITNESS-LOG-110.md) (13 §A0.x entries · 99.56 % cross-board RX · **104.1 µs smoothed sync stdev** · ≤100 µs target met), [`ADR-110-REVIEW-GUIDE`](../ADR-110-REVIEW-GUIDE.md) (one-page reviewer tour), [`ADR-110-BRANCH-STATE`](../ADR-110-BRANCH-STATE.md) (coordination map vs `feat/adr-115-ha-mqtt-matter`). Host decoders + tests: Python `SyncPacketParser` (10) + Rust `wifi_densepose_hardware::SyncPacket` (15), cross-language hex pin gates drift. |

 ### Signal processing and sensing
@@ -166,6 +185,7 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
 | [ADR-294](ADR-294-wifi-veil-integration.md) | WiFi Veil integration — emission-shaping countermeasure as advisory BFLD dependency | Accepted (initial implementation) |
 | [ADR-295](ADR-295-source-provenance-state-machine.md) | Source provenance state machine — synthetic can never present as live | Accepted (initial implementation) |
 | [ADR-296](ADR-296-sensor-data-plane-bind-hardening.md) | Sensor data-plane hardening — UDP bind control and source allowlist (step one) | Accepted (initial implementation) |
+| [ADR-380](ADR-380-loopback-udp-tee.md) | Loopback UDP tee for second consumers of the CSI stream (`--udp-tee`) | Proposed |
 | [ADR-297](ADR-297-multi-node-semantic-correctness.md) | Multi-node semantic correctness — per-node inference, node-keyed rate limiting, stale state | Accepted (initial implementation) |
 | [ADR-298](ADR-298-model-release-sanity-gates.md) | Model release sanity gates — block degenerate and mislabeled model artifacts | Accepted (initial implementation) |
 | [ADR-299](ADR-299-csi-data-incident-repo-controls.md) | Repository CSI data-incident controls — ignore rules and pre-commit/CI policy check | Accepted (controls implemented; tree remediation gated) |
@@ -33,59 +33,82 @@ cargo run --release -p wifi-densepose-sensing-server \
    --mqtt-username homeassistant
 ```

-Within ~5 seconds of starting, Home Assistant should auto-create:
+Within ~5 seconds of the first CSI frame, Home Assistant should auto-create:

- One **device** per RuView node (named after the MAC or the `friendly_name` from your zones config)
- 17+ **entities** per device (presence, person count, heart rate, breathing rate, motion, fall events, signal strength, zones, and the 10 semantic primitives)
+- One **device** per RuView node, named `RuView node <client-id>-node<N>` (see [Device identity](#device-identity))
+- **15 entities** per device (13 with `--privacy-mode`): the raw signals and six semantic primitives listed in the [Entity reference](#entity-reference)

 If nothing appears in HA's Settings → Devices, see [Troubleshooting](#troubleshooting).

 ### 3. Stop the publisher cleanly

-Ctrl-C — the publisher pushes `offline` to every availability topic before disconnect so HA marks all entities unavailable instantly. A `kill -9` triggers MQTT LWT, which has the same effect within ~30 s.
+Ctrl-C (SIGINT/SIGTERM) stops the server. It does **not** publish `offline` first, and no MQTT last-will is registered, so every availability topic keeps its last retained value until the server starts again (MEASURED: no availability message in the last 6 s of a SIGTERM'd run, see [ADR-115 §11](../adr/ADR-115-home-assistant-integration.md#11-status-note-p45-semantic-states-on-the-live-publisher-2026-10-02)). While the server runs, a node that stops sending frames goes `offline` at the next 30 s availability heartbeat.

 ---

 ## Entity reference

-RuView publishes three classes of entity. Names below are the `unique_id` slugs — Home Assistant assigns friendly names automatically.
+Names below are the `unique_id` slugs; Home Assistant assigns friendly names automatically. Every entity has its own availability topic (`…/<slug>/availability`, retained). An entity is `online` only while the server has a real source for it. Otherwise it is `offline`, no state is published, and Home Assistant shows **unavailable** rather than a made-up value.

-### Raw signals (11 entities)
+### Raw signals (9 entities)

-| HA entity | Slug | HA component | Unit | Source field |
+| HA entity | Slug | HA component | Unit | Source | Available when |
+|---|---|---|---|---|---|
+| Presence | `presence` | `binary_sensor` | — | `nodes[].node_inference.classification != "absent"` | always |
+| Person count | `person_count` | `sensor` | persons | `persons[]` length, else `estimated_persons` (room-level, same on every node) | always |
+| Motion level | `motion_level` | `sensor` | % | node classification: `present_moving` = 100, `present_still`/`absent` = 0 | always |
+| Presence score | `presence_score` | `sensor` | % | node classification confidence × 100 while present, else 0 | always |
+| Motion energy | `motion_energy` | `sensor` | (dimensionless) | `node_features[].features.motion_band_power`, else the room `features.motion_band_power` | a band-power value was seen in the last 30 s |
+| Signal strength | `rssi` | `sensor` | dBm | `nodes[].rssi_dbm` | an RSSI was seen in the last 30 s |
+| Heart rate | `heart_rate` | `sensor` | bpm | `vital_signs.heart_rate_bpm` (room-level) | a published estimate in the last 30 s |
+| Breathing rate | `breathing_rate` | `sensor` | bpm | `vital_signs.breathing_rate_bpm` (room-level) | a published estimate in the last 30 s |
+| Fall detected | `fall` | `event` | — | rising edge of the node's `edge_vitals.fall_detected` | the node sent `edge_vitals` in the last 30 s |
+
+The server publishes heart and breathing rate only after explicit calibration, with exactly one occupant and a passing quality gate. Until then both entities stay unavailable. Heart rate and breathing rate are **biometric**: `--privacy-mode` removes them from discovery and state (see [Privacy](#privacy)).
+
+### Semantic automation primitives (6 entities)
+
+Small finite-state machines run inside the server, one set per node, sampled once per second ([ADR-115 §3.12](../adr/ADR-115-home-assistant-integration.md#312-semantic-automation-primitives-ha-mind), P4.5). All of them are unavailable for the first 60 s after start (warmup). After that each publishes its current state, then on every change.
+
+| HA entity | Slug | HA component | What it fires on | Available when |
 |---|---|---|---|---|
-| Presence | `presence` | `binary_sensor` | — | `edge_vitals.presence` |
-| Person count | `person_count` | `sensor` | persons | `edge_vitals.n_persons` |
-| Heart rate | `heart_rate` | `sensor` | bpm | `edge_vitals.heartrate_bpm` |
-| Breathing rate | `breathing_rate` | `sensor` | bpm | `edge_vitals.breathing_rate_bpm` |
-| Motion level | `motion_level` | `sensor` | % | `edge_vitals.motion` × 100 |
-| Motion energy | `motion_energy` | `sensor` | (dimensionless) | `edge_vitals.motion_energy` |
-| Fall detected | `fall` | `event` | — | `edge_vitals.fall_detected` |
-| Presence score | `presence_score` | `sensor` | % | `edge_vitals.presence_score` × 100 |
-| Signal strength | `rssi` | `sensor` | dBm | `edge_vitals.rssi` |
-| Zone occupancy | `zone_occupancy` | `binary_sensor` | — | `sensing_update.zones` |
-| Pose keypoints | `pose` | `sensor` (attrs) | — | `pose_data.keypoints` (opt-in via `--mqtt-publish-pose`) |
+| Room active | `room_active` | `binary_sensor` | presence + motion >10% within a 30 s window; off after 10 min idle | after warmup |
+| No movement (safety) | `no_movement` | `binary_sensor` | presence + motion <1% for 30 min | after warmup |
+| Elderly inactivity anomaly | `elderly_inactivity_anomaly` | `binary_sensor` | stillness > 2× the longest stillness seen since start (floor 30 min) | after warmup |
+| Someone sleeping | `someone_sleeping` | `binary_sensor` | presence + motion <5% + BR ∈ [8,20] bpm for 5 min | after warmup, while breathing rate is available |
+| Possible distress | `possible_distress` | `binary_sensor` | HR ≥ 1.5× resting baseline + motion >20% + no fall, for 60 s | after warmup, while heart rate is available |
+| Fall risk elevated | `fall_risk_elevated` | `sensor` | 0–100 score: 10 per fall in 24 h + 50 × motion variance over 60 s | after warmup, while the fall detector is available |

-Heart rate, breathing rate, and pose are **biometric** entities — they are stripped from MQTT (and never published over Matter) when `--privacy-mode` is set. See [Privacy](#privacy) below.
+Per-node motion is a three-level classification, so the motion thresholds above effectively mean "moving" or "not moving". The precision and recall figures in [`semantic-primitives-metrics.md`](./semantic-primitives-metrics.md) are CLAIMED: the replay tooling they cite is not in the repository. No `reason` attribute is published yet; the explanation tags stay server-side.

-### Semantic automation primitives (10 entities)
+### Not announced

-These are the inferred high-level states that customer automations actually use. Each one is a small finite-state machine running server-side with explicit warmup, hysteresis, and refractory windows. Per-primitive precision/recall is published in [`semantic-primitives-metrics.md`](./semantic-primitives-metrics.md).
+These entities from ADR-115 §3.1 and §3.12 are not announced, because the sensing broadcast has nothing to drive them. Announcing them only produced entities stuck at "unknown" ([#2085](https://github.com/ruvnet/RuView/issues/2085)).

-| HA entity | Slug | HA component | What it fires on |
-|---|---|---|---|
-| Someone sleeping | `someone_sleeping` | `binary_sensor` | presence + motion<5% + BR ∈ [8,20] bpm sustained for 5 min |
-| Possible distress | `possible_distress` | `binary_sensor` | HR > 1.5× baseline + motion >20% + no fall, sustained 60 s |
-| Room active | `room_active` | `binary_sensor` | motion >10% in a 30-s rolling window |
-| Elderly inactivity anomaly | `elderly_inactivity_anomaly` | `binary_sensor` | idle > 2× observed-max-idle baseline |
-| Meeting in progress | `meeting_in_progress` | `binary_sensor` | ≥2 persons + low-amplitude motion for 10 min |
-| Bathroom occupied | `bathroom_occupied` | `binary_sensor` | presence + active zone tagged `bathroom` |
-| Fall risk elevated | `fall_risk_elevated` | `sensor` | 0–100 score; event fires on ≥70 crossing |
-| Bed exit (overnight) | `bed_exit` | `event` | sleeping → presence leaves bed zone between 22:00–06:00 |
-| No movement (safety) | `no_movement` | `binary_sensor` | presence + motion <1% for 30 min |
-| Multi-room transition | `multi_room_transition` | `event` | zone X exit + zone Y enter within 10 s |
+| Slug | Why not |
+|---|---|
+| `zone_occupancy`, `bathroom_occupied`, `bed_exit`, `multi_room_transition` | the broadcast carries no zones, and the server loads no zone-tag map |
+| `meeting_in_progress` | needs a 1–20 % motion level; per-node motion is three-level |
+| `pose` | `pose_keypoints` is never populated on the broadcast, and the `persons[].keypoints` skeletons are synthesized. `--mqtt-publish-pose` is accepted but logs a warning and announces nothing |

-Every state change carries a `reason` attribute (e.g. `["motion<5%", "br=12bpm", "presence=true"]`) so you can template against it in HA automations to understand why an automation triggered.
+### Publish rates and retention
+
+| Entity kind | When it publishes | QoS / retain |
+|---|---|---|
+| `presence` and semantic `binary_sensor`s | on change, plus a heartbeat every 60 s if unchanged | 1 / retained |
+| `person_count`, `motion_level`, `motion_energy`, `presence_score`, `fall_risk_elevated` | at most `--mqtt-rate-motion` / `--mqtt-rate-count` (default 1 Hz) | 0 / not retained |
+| `heart_rate`, `breathing_rate` | at most `--mqtt-rate-vitals` (default 0.2 Hz) | 0 / not retained |
+| `rssi` | at most `--mqtt-rate-rssi` (default 0.1 Hz) | 0 / not retained |
+| `fall` | once per detected fall | 1 / not retained |
+| availability | on every transition, and all topics every 30 s | 1 / retained |
+
+Before [#2093](https://github.com/ruvnet/RuView/issues/2093), `presence` was published on every CSI frame (MEASURED 37.9 msg/s with one node, 1 msg per ~45 s after the fix; see [ADR-115 §11](../adr/ADR-115-home-assistant-integration.md#11-status-note-p45-semantic-states-on-the-live-publisher-2026-10-02)).
+
+### Device identity
+
+Each node's HA device id is `wifi_densepose_<client-id>-node<N>`, where `<N>` is the node id from the CSI frames. Without `--mqtt-client-id`, the server creates `wifi-densepose-<8 hex digits>` on first start and keeps it in `<data-dir>/mqtt_client_id`, so device ids survive restarts. Keep `--data-dir` on persistent storage (a Docker volume, for example). If the file cannot be written, the server logs a warning and falls back to a per-process id for that run. `--mqtt-client-id` overrides the persisted id. Use it to pin ids across reinstalls or to run two servers against one broker.
+
+Releases before this change used `wifi-densepose-<pid>`, so every restart created a new set of devices. To remove the leftovers, publish an empty retained message to each stale `homeassistant/+/wifi_densepose_<old-id>…/+/config` topic, or delete the devices in Home Assistant.

 ### Matter device-type mapping

@@ -115,7 +138,7 @@ Per ADR-115 §3.11.1, the Matter Bridge exposes a subset on standard clusters so
 | `--mqtt-port <PORT>` | 1883 (8883 with TLS) | Broker port |
 | `--mqtt-username <U>` | — | Username for broker auth |
 | `--mqtt-password-env <VAR>` | `MQTT_PASSWORD` | Env var holding the password |
-| `--mqtt-client-id <ID>` | `wifi-densepose-<hostname>` | MQTT client ID |
+| `--mqtt-client-id <ID>` | persisted `wifi-densepose-<hex>` in `<data-dir>/mqtt_client_id` | MQTT client ID; prefixes every HA device id |
 | `--mqtt-prefix <PREFIX>` | `homeassistant` | Discovery topic prefix |
 | `--mqtt-tls` | off | Encrypt connection |
 | `--mqtt-ca-file <PATH>` | — | Pinned CA for TLS / mTLS |
@@ -126,43 +149,21 @@ Per ADR-115 §3.11.1, the Matter Bridge exposes a subset on standard clusters so
 | `--mqtt-rate-motion <HZ>` | 1.0 | Motion publish rate (Hz) |
 | `--mqtt-rate-count <HZ>` | 1.0 | Person-count publish rate (Hz) |
 | `--mqtt-rate-rssi <HZ>` | 0.1 | RSSI publish rate (Hz) |
-| `--mqtt-publish-pose` | off | Enable pose-keypoint publication |
-| `--mqtt-rate-pose <HZ>` | 1.0 | Pose publish rate when enabled |
-| `--privacy-mode` | off | Strip HR/BR/pose from MQTT and Matter |
+| `--mqtt-publish-pose` | off | Accepted; no pose source exists, so it only logs a warning |
+| `--mqtt-rate-pose <HZ>` | 1.0 | Unused while no pose entity is announced |
+| `--privacy-mode` | off | Strip HR/BR/pose from MQTT, Matter, REST, WebSocket and recordings |
+| `--data-dir <DIR>` | `data` | Holds `mqtt_client_id` (and other server state) |
 | `--matter` | off | Enable the HA-FABRIC Matter Bridge |
 | `--matter-setup-file <PATH>` | — | Where to write the QR + manual code |
 | `--matter-reset` | off | Wipe fabric credentials and re-commission |
 | `--matter-vendor-id <VID>` | `0xFFF1` (dev) | CSA-assigned vendor ID |
 | `--matter-product-id <PID>` | `0x8001` | Product ID |
-| `--semantic` | on | Enable inference layer |
-| `--semantic-thresholds-file <PATH>` | — | Per-primitive threshold overrides |
-| `--semantic-zones-file <PATH>` | — | Zone-tag map (`bathroom`, `bedroom`, …) |
-| `--no-semantic <PRIMITIVE>` | — | Disable a specific primitive (repeatable) |

-### Zone tag file format
+The `--semantic`, `--semantic-thresholds-file`, `--semantic-zones-file` and `--no-semantic` flags from ADR-115 §3.12.5 are **not accepted by `sensing-server` yet**. The primitives always run with the defaults in `PrimitiveConfig`, and no zone map is loaded.

-```yaml
-# semantic-zones.yaml — passed to --semantic-zones-file
-zones:
-  bathroom: ["zone_3", "zone_7"]
-  bedroom:  ["zone_1"]
-  kitchen:  ["zone_2"]
-  living:   ["zone_5"]
-bed_zones: ["zone_1"]
-```
+### Zone tags and threshold overrides (not implemented)

-### Threshold overrides
-
-```yaml
-# semantic-thresholds.yaml — passed to --semantic-thresholds-file
-sleep_dwell_secs: 300
-distress_hr_multiple: 1.5
-room_active_motion_threshold: 0.10
-elderly_anomaly_multiple: 2.0
-meeting_min_persons: 2
-no_movement_dwell_secs: 1800
-fall_risk_event_threshold: 70.0
-```
+ADR-115 §3.12.5 specifies a zone-tag file and a threshold-override file. Neither is read by `sensing-server` today, which is why the zone-based primitives are not announced.

 ---

@@ -170,9 +171,11 @@ fall_risk_event_threshold: 70.0

 When deploying in **healthcare**, **AAL (aging-in-place)**, or **commercial** settings, set `--privacy-mode`. This:

- **Strips** heart rate, breathing rate, and pose keypoints from every outbound MQTT publication.
- **Suppresses discovery** for those entities entirely — HA never even sees they exist.
- **Keeps every semantic primitive enabled.** Sleeping / distress / room-active / etc are *inferred* states. The inference happens server-side and only the boolean or score crosses the wire. This is the architectural win that makes the platform deployable in regulated contexts.
+- **Strips** heart rate and breathing rate from every outbound MQTT publication and, in the same way, from REST responses, WebSocket frames and recordings (pose is never announced over MQTT; see [Not announced](#not-announced)).
+- **Suppresses discovery** for those entities entirely: Home Assistant never sees them, and no availability or state topic is published for them.
+- **Keeps the semantic primitives enabled.** `someone_sleeping` and `possible_distress` still use breathing and heart rate *inside the server*; only the ON/OFF state crosses the wire (ADR-115 §3.12.3). If that is too much for your deployment, drop those two entities in Home Assistant.
+
+With `--privacy-mode`, 13 entities are announced per node. Privacy mode reduces what leaves the server. It does not by itself make a deployment compliant with any regulation.

 Always pair `--privacy-mode` with `--mqtt-tls` on non-localhost brokers.

@@ -210,7 +213,6 @@ action:
      title: "Possible distress detected"
      message: >
        RuView flagged sustained elevated heart rate + agitated motion.
-        Reason: {{ state_attr(trigger.entity_id, 'reason') }}.
 ```

 ### 2. Dim hallway when someone is sleeping
@@ -256,6 +258,8 @@ action:

 ### 3. Wake-up routine on bed exit

+> `bed_exit` is not published by `sensing-server` today (it needs a bed-zone map; see [Not announced](#not-announced)). This blueprint will not fire until that lands.
+
 ```yaml
 blueprint:
  name: RuView — wake-up routine on bed exit
@@ -335,8 +339,8 @@ cards:
    entity: binary_sensor.ruview_kitchen_presence
    name: Kitchen
  - type: tile
-    entity: binary_sensor.ruview_bathroom_occupied
-    name: Bathroom
+    entity: binary_sensor.ruview_bedroom_room_active
+    name: Bedroom active
 ```

 ---
@@ -373,6 +377,15 @@ All three accept the same HA discovery topics RuView publishes. Performance and
   wscat -c ws://localhost:8765/ws/sensing
   ```
 3. Confirm rate limits aren't dropping everything: `--mqtt-rate-vitals 1.0` for diagnosis (default 0.2 Hz = every 5 s).
+4. Unchanged binary states (presence, the semantic primitives) publish once per change and then every 60 s. A flat line in HA history is expected while nothing changes.
+
+### Entity shows "unavailable"
+
+The server has no source for it right now: heart and breathing rate need explicit calibration and a single occupant, `fall` needs a node that sends `edge_vitals`, and the semantic primitives wait 60 s after start (`someone_sleeping` and `possible_distress` also need breathing or heart rate). Check the availability topic with `mosquitto_sub -t 'homeassistant/+/+/<slug>/availability' -v`.
+
+### Duplicate devices after a restart
+
+Older releases derived device ids from the process id. See [Device identity](#device-identity) for how to remove the stale devices; the current default id is persisted in `--data-dir`.

 ### "Plaintext MQTT on non-localhost broker" WARN

@@ -391,7 +404,7 @@ Per [ADR-115 §3.9](../adr/ADR-115-home-assistant-integration.md#39-tls--auth),

 ## Applications — what people actually do with this

-The 21 entities per node — 11 raw signals (presence, person count, breathing, heart rate, motion, RSSI, etc.) and 10 inferred semantic states (someone-sleeping, possible-distress, room-active, elderly-inactivity-anomaly, meeting-in-progress, bathroom-occupied, fall-risk-elevated, bed-exit, no-movement, multi-room-transition) — slot into Home Assistant like any other sensor. The list below groups real-world uses so you can pick the ones that match your space.
+The 15 entities per node (9 raw signals and 6 semantic states, see the [Entity reference](#entity-reference)) slot into Home Assistant like any other sensor. Some uses below rely on entities that are not announced yet (zones, bathroom, bed exit, meeting); those wait on a zone source or a finer motion level. The list below groups real-world uses so you can pick the ones that match your space.

 ### Personal & home

@@ -495,13 +508,9 @@ A few patterns appear over and over; if you understand these you can build most

 ### What about regulated environments?

-Run RuView with `--privacy-mode` and only the 10 inferred semantic states reach Home Assistant — heart rate, breathing rate, and pose values are stripped at the MQTT wire. Per ADR-115 §6, this passes:
+With `--privacy-mode`, heart rate and breathing rate never reach the broker; their entities are not even announced. The semantic states still reach Home Assistant, and two of them (`someone_sleeping`, `possible_distress`) are derived from those vitals inside the server, so their ON/OFF values are themselves health-related information.

- **HIPAA-style minimum-necessary** (no biometric numbers leave the device)
- **GDPR purpose-limitation** (the inferred states are the smallest dataset that supports the automation)
- **CCPA "sensitive personal information"** (no health data crosses the wire)
-
-The fall-risk-elevated / possible-distress / someone-sleeping flags still work — they're computed *inside* the sensor pipeline and only the boolean outputs are published. That's the architectural win that makes RuView deployable in care homes, hospitals, schools, and shared-housing scenarios where raw biometrics would be a non-starter.
+Privacy mode narrows what crosses the MQTT wire. It is not a compliance certification, and RuView makes no HIPAA, GDPR or CCPA compliance claim. Whether a deployment meets a regulation depends on the whole system: broker access control and TLS, Home Assistant's recorder retention, who can see the dashboards, consent, and local law. Assess that with whoever is responsible for compliance in your setting.

 ## References

@@ -0,0 +1,361 @@
+# MediaTek Router CSI (MT7981, experimental)
+
+RuView can take channel state information (CSI) from a MediaTek Filogic
+router, such as an MT7981B with an MT7976C radio running OpenWrt with
+MediaTek's vendor CSI patch. The router reports CSI. A host-side bridge
+converts it to RuView's MTC1 wire format (ADR-267). The sensing server ingests
+it like any other UDP source.
+
+**Status: experimental.** This page documents a working data path, measured
+on one board model. It makes no sensing-quality claim. Frames from this path
+carry the provenance label `mediatek:physical-unvalidated`. The ADR-266
+hardware gates are still open: calibration, sequence, timestamp, and
+repeatability.
+
+Developed in whitsentry, a RuView-based project.
+
+Evidence tags used below: **MEASURED** (with a reproducer), **CODE-DERIVED**
+(read from source or build scripts, not run here), **CLAIMED** (stated, not
+independently verified), **SYNTHETIC** (simulated or fabricated data).
+
+## Contents
+
+- [Supported hardware](#supported-hardware)
+- [How the path works](#how-the-path-works)
+- [Build the OpenWrt image](#build-the-openwrt-image)
+- [Arm CSI on the router](#arm-csi-on-the-router)
+- [Run the bridge](#run-the-bridge)
+- [Start the sensing server](#start-the-sensing-server)
+- [What the data is, and is not](#what-the-data-is-and-is-not)
+- [Evidence](#evidence)
+- [Troubleshooting](#troubleshooting)
+- [Reference](#reference)
+
+## Supported hardware
+
+| Board | SoC + radio | Status |
+|---|---|---|
+| Wavlink WL-WN586X3 **Rev A** | MT7981BA + MT7976CN (switch MT7531AE) | Run on two units. CSI captured from both is analysed offline below (MEASURED). Live delivery to the sensing server is CLAIMED from local run logs that are not in the tree. |
+| OpenWrt One | MT7981B + MT7976C | CLAIMED: same silicon per the OpenWrt hardware table and ADR-266. Not run with this patch set. |
+| Xiaomi AX3000T | MT7981B + MT7976C | CLAIMED: same silicon per the OpenWrt hardware table. Not run with this patch set. |
+| Other MT7981/MT7986 boards | — | Untested. The CSI patch targets the `mt7915` driver family, so other Filogic radios may work, but nothing here shows that. |
+
+The board patch in `firmware/openwrt-wn586x3/` is specific to the WN586X3
+**Rev A**. The CSI driver patch and the two userspace fixes do not depend on
+the board.
+
+Each MT7976C radio has **two receive chains**. The WN586X3's four external
+antennas are a 2.4 GHz pair and a 5 GHz pair. It is not a 4x4 array, and two
+routers are two independent receivers, not one phased array.
+
+## How the path works
+
+```
+ router (OpenWrt 24.10.8)                          host
+ ┌────────────────────────────────┐               ┌──────────────────────────────┐
+ │ mt76 + MediaTek CSI patch      │               │ wifi-densepose-mtk-bridge    │
+ │   firmware MCU event 0xc2      │  JSON dump    │   groups chains into frames, │
+ │ mt76-vendor dump csi  ─────────┼──────────────►│   applies provenance gate,   │
+ │ CSIdump (UDP, optional) ───────┼──── UDP ─────►│   emits ADR-267 MTC1         │
+ └────────────────────────────────┘               └──────────────┬───────────────┘
+                                                                 │ UDP :5005
+                                                  ┌──────────────▼───────────────┐
+                                                  │ sensing-server               │
+                                                  │   --source mediatek          │
+                                                  │   /api/v1/csi/mediatek/*     │
+                                                  └──────────────────────────────┘
+```
+
+Two transports leave the router:
+
+- **`mt76-vendor <iface> dump csi <n> <file>`** writes a JSON array of
+  per-chain records: timestamp, transmitter address, RSSI, SNR, bandwidth,
+  PPDU mode, tx/rx chain index, chain marker, and I/Q. This is the richer
+  path, and the one that carried sustained use. You copy the file to the host
+  (for example, a loop over SSH) and replay it through the bridge.
+- **`CSIdump`** (MtkCSIdump) streams one antenna per UDP datagram and drops
+  RSSI, PPDU mode, and transmitter identity. The bridge emits one 1x1 frame per
+  datagram. This path was verified end to end once, as a recording. It has not
+  run as a standing service.
+
+## Build the OpenWrt image
+
+The patch set lives in [`firmware/openwrt-wn586x3/`](../firmware/openwrt-wn586x3/README.md).
+It is not a firmware image. Build and hash your own.
+
+| Patch | Applies to |
+|---|---|
+| `1001-mtk-mt76-mt7915-csi-implement-csi-support-REBASED.patch` | `mt76` package (`package/kernel/mt76/patches/`) |
+| `mt76-vendor-csi-dump-bounds.patch` | `mt76-vendor` source (`feed/app/mt76-vendor/src/csi.c` in `mediatek/mtk-openwrt-feeds`) |
+| `csidump-nl80211-attr-enum.patch` | MtkCSIdump `src/wifi_drv_api/mt76_api.cpp` (only if you use CSIdump) |
+| `0001-wn586x3-reva-single-image-sysupgrade-and-generic-spi-nor.patch` | `target/linux/mediatek` (WN586X3 Rev A only) |
+
+The route that produced the tested image (CODE-DERIVED from its build scripts)
+used the stock OpenWrt **24.10.8** `mediatek/filogic` SDK and ImageBuilder in
+an x86_64 Linux container:
+
+1. **SDK.** Unpack `openwrt-sdk-24.10.8-mediatek-filogic`, then run
+   `./scripts/feeds update -a && ./scripts/feeds install -a`.
+2. **CSI driver.** Copy the rebased `1001-...` patch into
+   `feeds/base/package/kernel/mt76/patches/`. Raise `PKG_RELEASE` in that
+   package's `Makefile` (the tested build used `99`) so the ImageBuilder
+   prefers your build over the CDN package of the same version.
+3. **mt76-vendor.** Add MediaTek's `mt76-vendor` package from
+   `mtk-openwrt-feeds` as `package/mt76-vendor`, with the bounds patch applied
+   to `src/csi.c`.
+4. **Configure and compile.** Select `CONFIG_TARGET_mediatek_filogic_DEVICE_wavlink_wl-wn586x3`,
+   `kmod-mt7915e`, `mt76-vendor`, and `libnl-tiny`. Then run
+   `make package/feeds/base/mt76/compile package/mt76-vendor/compile`.
+5. **Image.** Copy the built `.ipk` files into the ImageBuilder's `packages/`
+   and run:
+   ```bash
+   make image PROFILE=wavlink_wl-wn586x3 \
+     PACKAGES="kmod-mt7915e kmod-mt7981-firmware mt7981-wo-firmware mt76-vendor libnl-tiny"
+   ```
+6. **Check the manifest.** The image's `.manifest` must list `kmod-mt7915e`
+   at your raised release (for example `-r99`) and `mt76-vendor`. If it lists
+   the CDN release, the image has no CSI.
+
+**Rev A board patch.** An ImageBuilder cannot compile a device tree, and its
+`make image` reuses the prebuilt DTB and FIT kernel. The tested Rev A build
+compiled the patched DTB itself, rebuilt the FIT kernel around it, added the
+patched `lib/upgrade/platform.sh` as a rootfs overlay, then checked that the
+final sysupgrade image embedded that DTB. A full OpenWrt buildroot applies
+`target/` patches directly and avoids those steps. That route was not tested
+here.
+
+Flash only a Rev A unit, keep the stock firmware backup, and follow the
+OpenWrt wiki and forum thread for this board. Neither this guide nor the patch
+set names a LAN, an account, or a password.
+
+**Firmware blobs.** The CSI report is MCU event `0xc2`. The MT7981 firmware in
+the tested image (`kmod-mt7981-firmware`, `mt7981-wo-firmware` from OpenWrt
+24.10.8) already emits it, so no firmware blob swap was needed on the tested
+board. Other firmware versions are untested.
+
+## Arm CSI on the router
+
+CSI follows traffic from **associated clients**. With nothing associated and
+transmitting, there is no CSI. Run these on the router, as root, against the AP
+interface (`phy0-ap0` was the 2.4 GHz AP on the tested board). The sequence
+below is CODE-DERIVED from the capture scripts used on the tested board:
+
+```sh
+mt76-vendor phy0-ap0 set csi ctrl=0,0,0,0      # disarm and reset
+mt76-vendor phy0-ap0 set csi interval=1000
+mt76-vendor phy0-ap0 set csi ctrl=2,3,0,34     # frame-type filter, as used on
+mt76-vendor phy0-ap0 set csi ctrl=2,9,1,0      # the tested board (data frames)
+mt76-vendor phy0-ap0 set csi ctrl=1,0,0,0      # arm
+```
+
+Check that the driver is collecting:
+
+```sh
+cat /sys/kernel/debug/ieee80211/phy0/mt76/csi_stats   # data_cnt should climb
+iw dev phy0-ap0 station dump | grep -E "Station|signal"
+```
+
+Pull a batch:
+
+```sh
+rm -f /tmp/csi.json                         # the tool APPENDS; remove first
+mt76-vendor phy0-ap0 dump csi 64 /tmp/csi.json
+```
+
+`dump csi` needs the filename argument. Without it, the tool returns nothing.
+
+## Run the bridge
+
+```bash
+cd v2
+cargo build --release -p wifi-densepose-mtk-bridge
+B=./target/release/wifi-densepose-mtk-bridge
+```
+
+**Dump path (recommended).** Copy `/tmp/csi.json` to the host, then replay it.
+A file cannot prove it came off a radio, so `--replay` refuses to start until
+you either attest the hardware or declare the file synthetic:
+
+```bash
+$B --replay csi.json --captured-on <model>/<firmware> \
+   --node <node-name> --center-freq-khz <khz> --sink 127.0.0.1:5005
+```
+
+- `--node` is hashed into the 64-bit `device_id`. Give each router its own name.
+- `--center-freq-khz` is the AP channel's centre frequency, for example
+  `2437000` for 2.4 GHz channel 6.
+- `--captured-on` takes `<model>/<firmware>`, for example
+  `WN586X3-RevA/openwrt-24.10.8-csi`. It is logged at startup.
+
+For a continuous feed, repeat dump, copy, and replay in a loop, one loop per
+router. Keep a copy of each dump only if you need it, and never commit one
+(see below).
+
+**Streaming path (CSIdump).** Start `CSIdump phy0-ap0 <rate> 8888` on the
+router. Then, on the host:
+
+```bash
+$B --listen 0.0.0.0:8888 --csidump <router-ip>:8888 --listen-allow <router-ip> \
+   --node <node-name> --center-freq-khz <khz> --sink 127.0.0.1:5005 \
+   --record captures/<node-name>.mtkcap
+```
+
+`--listen-allow` is mandatory. Datagrams from any other source are dropped and
+counted. CSIdump disarms CSI when it receives SIGTERM. The dump path and
+CSIdump cannot share the driver's ring, so run one or the other.
+
+**No router.** The fabricated fixture exercises the whole host path. It must
+be replayed with `--synthetic`, and the server labels it `mediatek:simulated`:
+
+```bash
+$B --replay crates/wifi-densepose-mtk-bridge/fixtures/FABRICATED-mt76-vendor-dump-mt7981-bw80.synthetic.json \
+   --synthetic --node demo --sink 127.0.0.1:5005
+```
+
+The ADR-266 simulator is another synthetic source:
+
+```bash
+cargo run -p wifi-densepose-hardware --bin mediatek-csi-sim -- \
+  --profile mt7981 --udp 127.0.0.1:5005 --frames 1000 --realtime
+```
+
+Full flag reference: [`v2/crates/wifi-densepose-mtk-bridge/README.md`](../v2/crates/wifi-densepose-mtk-bridge/README.md).
+
+## Start the sensing server
+
+```bash
+cd v2
+cargo run --release -p wifi-densepose-sensing-server -- --source mediatek \
+  --activity-state <state-dir>/activity-floor.json
+```
+
+- `--source mediatek` binds the UDP receiver (loopback by default, ADR-296) and
+  does **not** start the ESP32-shaped simulator. Before this source existed,
+  `--source mediatek` bound nothing.
+- If the bridge runs on another host, bind a routable address with
+  `--udp-bind` and name the bridge host in `--udp-allow`.
+- `--activity-state` is optional. It persists each device's learned
+  quiet-room activity floor so that a restart does not relearn it.
+- `--csi-ring <n>` sets frames retained per device for inspection (default
+  256, about 0.5 MiB per 2x2 device at 64 subcarriers).
+
+Endpoints:
+
+| Route | Returns |
+|---|---|
+| `GET /api/v1/csi/mediatek/latest` | Last MTC1 snapshot, any device |
+| `GET /api/v1/csi/mediatek/devices` | One snapshot per `device_id`, with `age_ms`. Devices silent for over 30 s are omitted. |
+| `GET /api/v1/csi/mediatek/devices/:device_id/frames?n=&fields=amp,phase` | Newest `n` frames of per-chain, per-subcarrier amplitude and phase |
+| `GET /api/v1/csi/mediatek/devices/:device_id/summary` | Per-chain amplitude mean/std per subcarrier, RSSI per Rx chain, frame rate, heuristic window stats |
+| `GET /api/v1/csi/mediatek/activity?seconds=300` | About 1 Hz history of the relative activity index |
+| `GET /api/v1/sensing/latest` | Room update. On this source, `classifier` is `mediatek-amplitude-heuristic-v0`. |
+
+Check the label on every snapshot:
+
+| `source` | Meaning |
+|---|---|
+| `mediatek:simulated` | `SYNTHETIC` flag set. Nothing downstream can clear it. |
+| `mediatek:physical-unvalidated` | Real silicon, not calibrated. Everything this path produces today. |
+| `mediatek` | Real and calibrated. Reserved. Nothing emits it yet. |
+
+## What the data is, and is not
+
+**It is** complex channel estimates per receive chain from a real MT7976C
+radio, carried end to end with provenance intact.
+
+**It is not:**
+
+- **A sensor with its own clock.** The report rate is the clients' traffic
+  rate. An idle phone gives a few frames per second, and a busy one gives
+  hundreds. With no associated, transmitting client, there is no data. A
+  stationary device that keeps transmitting to the AP (an "illuminator", for
+  example an ESP32 sending a steady packet stream) gives a regular rate
+  (CLAIMED: the 09-20 and 09-24 captures below include an illuminator's
+  frames; transmitter identity was not re-checked in this analysis).
+- **Calibrated.** `scale` is 1.0 in raw firmware units. Nothing has been
+  checked against a reference. The ADR-266 gates are open.
+- **Validated for presence, motion, or vital signs.** The room output on this
+  source comes from `mediatek-amplitude-heuristic-v0` (presence and motion from
+  mean amplitude) and `activity-index-v0` (fluctuation against a learned
+  floor). Both are **CLAIMED**. Neither has been scored against labelled ground
+  truth. `activity` blocks carry `is_occupancy_estimate: false`. These outputs
+  do not feed the validated ESP32 vital-sign pipeline.
+- **Coherent across routers.** Each radio has its own oscillator. Cross-chain
+  phase is meaningful within one radio, not between two boxes.
+- **Free of personal data.** A raw dump holds client transmitter addresses
+  (MACs) and channel samples that encode movement. RuView policy (ADR-299)
+  forbids committing captures. Keep them out of the repository, and run
+  `scripts/csi-data-policy-check.sh --staged` before committing near capture
+  directories.
+
+## Evidence
+
+| Claim | Tag | Basis |
+|---|---|---|
+| A real WL-WN586X3 frame decodes and reaches the server as `mediatek:physical-unvalidated` | MEASURED (path) | First record, 2026-09-19: legacy OFDM, 20 MHz, 64 subcarriers, one chain. Its shape is pinned by `wifi-densepose-mtk-bridge/tests/hardware_capture.rs`, which uses a fabricated record. The capture itself is not in the tree. |
+| Cross-chain phase is steady frame to frame on one MT7976C radio, and raw per-chain phase is not | MEASURED (offline) | See below |
+| `mediatek-amplitude-heuristic-v0`, `activity-index-v0` | CLAIMED | No labelled evaluation |
+| ADR-266 simulator and bridge fixtures | SYNTHETIC | Labelled on the wire |
+
+**Cross-chain phase stability.** Six local dump captures from two WN586X3 units,
+2.4 GHz, 20 MHz HT frames carrying chains (tx0, rx0) and (tx0, rx1), adjacent
+frames under 100 ms apart, 56 subcarriers (DC and guard bins excluded). The
+two 2026-09-19 captures were analysed whole; the four 09-20 and 09-24 captures
+by their first 20 MB each.
+
+| Quantity, per adjacent-frame step | Well-sampled transmitters (6, at 825 to 14,104 frames each) |
+|---|---|
+| Raw per-chain phase `arg(H0[k])`, per bin, p50 | 1.557 to 1.601 rad, with 49.6 to 50.9 % of steps over π/2 |
+| Cross-chain phase `arg(H0[k]·conj(H1[k]))`, per bin, p50 | 0.023 to 0.056 rad |
+| Cross-chain phase summed coherently over bins, p50 / p90 / p99 | 0.014–0.039 / 0.205–0.358 / 0.437–0.820 rad |
+
+Uniformly random phase gives a step p50 of π/2 = 1.571 rad, and half of all
+steps exceed π/2. Raw per-chain phase is indistinguishable from that, as
+expected with per-packet CFO and phase offset. In the cross-chain term those
+offsets cancel, and the step drops to hundredths of a radian. Steps are
+wrapped, so p99 can never exceed π, and is not evidence by itself.
+
+Transmitters with few, irregular frames (229 to 595 frames) were much worse:
+coherent-sum p50 0.177 to 0.456 rad, p99 1.857 to 2.849 rad. So the result
+holds only with a steady frame rate.
+
+This shows a **stable phase observable exists** within one radio. It does
+**not** show that the observable tracks people, breathing, or anything else.
+
+Reproduce it on your own capture (one `dump csi` array per line):
+
+```bash
+python3 scripts/mediatek-csi-phase-stability.py <capture.jsonl> [max_MB]
+```
+
+The script prints transmitters as `TX-A`, `TX-B`, and so on, never addresses.
+
+## Troubleshooting
+
+| Symptom | Likely cause | Fix |
+|---|---|---|
+| `csi_stats` `data_cnt` stays at 0 | No associated client transmitting, or CSI not armed | Associate a client and generate traffic, then re-run the arm sequence |
+| `data_cnt` stopped after a client roamed or the filter changed | Changing the CSI filter stops capture | Re-run the arm sequence ending in `ctrl=1,0,0,0`. Re-arming periodically is a reasonable guard. |
+| `mt76-vendor dump csi` prints nothing | No filename argument | Use `dump csi <n> <file>` |
+| `mt76-vendor dump csi` segfaults | Unpatched tool: the driver can return n+1 records | Rebuild with `mt76-vendor-csi-dump-bounds.patch` |
+| Bridge warns about repeated `(ta, ts, tx_idx, rx_idx)` chains | The dump file was not removed between dumps, and the tool appends | `rm -f` the file before every dump |
+| `--replay` refuses to start | Provenance not declared | Add `--captured-on <model>/<firmware>`, or `--synthetic` for fabricated input |
+| `--captured-on` is rejected | The input declares itself synthetic (sidecar, `.synthetic.` name, or capture header) | Expected. Synthetic is sticky. Use `--synthetic`. |
+| `--listen` refuses to start | No `--listen-allow` | Name the router's address or subnet |
+| `rejected_source` counts climb on `--listen` | The router's address is not in `--listen-allow` | Fix the allowlist |
+| CSIdump runs but nothing arrives | Unpatched CSIdump uses an off-by-one netlink attribute enum against this driver | Rebuild with `csidump-nl80211-attr-enum.patch` |
+| CSI stopped after CSIdump exited | CSIdump disarms CSI on SIGTERM | Re-run the arm sequence |
+| `/api/v1/csi/mediatek/devices` is empty | Server not on `--source mediatek` (or `auto` without UDP), wrong `--sink` port, or a non-loopback bridge not in `--udp-allow` | Check `--source`, port 5005, `--udp-bind`, and `--udp-allow` |
+| Two routers show as one device | Same `--node` on both bridges | Give each router its own `--node` (or `--device-id`) |
+| A frame shows `ppdu_type: legacy` | Normal. Association and management traffic is pre-HT. | None. ADR-267 Amendment 1 carries these frames rather than dropping them. |
+| Room status reads `unknown` for a device | The heuristic abstains below its confidence threshold | Expected with sparse frames. It is not an "absent" call. |
+| Room reads `absent` with `confidence: 0.0` | Every device abstained, so there is no evidence either way | Treat confidence 0 as "no information", not as an empty room |
+| Image flashes, but there is no `mt76-vendor` or CSI | The ImageBuilder used the CDN `kmod-mt7915e` | Check the manifest for your raised `PKG_RELEASE` |
+
+## Reference
+
+- [ADR-266: MediaTek Filogic CSI platform](adr/ADR-266-mediatek-filogic-csi-platform.md) (Amendment 1: vendor CSI on MT7981)
+- [ADR-267: MediaTek MIMO CSI wire protocol](adr/ADR-267-mediatek-mimo-csi-wire-protocol.md) (Amendment 1: `Legacy` and `Unknown` PPDU types)
+- [`firmware/openwrt-wn586x3/`](../firmware/openwrt-wn586x3/README.md): patches, licences, origins
+- [`v2/crates/wifi-densepose-mtk-bridge/`](../v2/crates/wifi-densepose-mtk-bridge/README.md): bridge transports, provenance rules, frame mapping
+- [MediaTek OpenWrt feeds](https://git01.mediatek.com/openwrt/feeds/mtk-openwrt-feeds/), [MtkCSIdump](https://github.com/MtkWifiRev/MtkCSIdump), [OpenWrt One](https://openwrt.org/toh/openwrt/one)
@@ -0,0 +1,36 @@
+# RuView README visual system
+
+The README uses a Cognitum-inspired palette: midnight backgrounds, cyan gradients, wireframe geometry and restrained signal motion. It includes a hero, six feature cards, six navigation icons, an overview, five chapter headings and a Cognitum destination banner.
+
+## Rebuild and check
+
+```bash
+python3 -m pip install -r scripts/requirements-readme-visuals.txt
+python3 scripts/render-readme-visuals.py
+python3 scripts/verify-readme-visuals.py
+python3 -m unittest discover -s scripts/tests -p test_readme_visuals_xml.py
+```
+
+Install the tooling dependency in a virtual environment. The generator and verifier
+use `defusedxml` to reject DTDs, entities and external XML references. SVG inputs
+must be smaller than 20,000 bytes; the verifier reads at most that limit and
+rejects oversized inputs before parsing. Both tools use UTF-8, and generated
+files use LF line endings for reproducibility across platforms. They make no
+network calls. This dependency is only for visual maintenance, not the runtime.
+Manifest paths must be relative: SVG files stay inside `assets/readme`, and
+local link targets stay inside the repository, including after symlink resolution.
+
+The committed SVGs are the deployment artifacts. The manifest in
+`assets/readme/manifest.json` lists every destination.
+
+## Links and rendering
+
+GitHub renders SVGs as images, so image-internal links are not used. Each SVG has an outer Markdown or HTML link in the README. Each card and navigation icon also has a plain text link for narrow screens and assistive technology. Source headings remain intact so existing README anchors still work.
+
+Animation uses CSS only. All copy and essential geometry are visible without animation, JavaScript, remote fonts or remote images. `prefers-reduced-motion` disables decorative movement. The original GIF remains available in an expandable demo section; the existing ruOS promotion remains linked.
+
+## Content boundaries
+
+The overview and RF room are conceptual illustrations, not live measurements or benchmark evidence. Feature cards link to current source documentation. Pose research is identified as such, and the signal card directs readers to hardware validation. No new speed, accuracy, medical or device-support claims are introduced.
+
+Sources: `docs/user-guide.md`, `docs/benchmarks/pose-estimation-cog.md`, `v2/crates/wifi-densepose-signal/README.md`, `firmware/esp32-csi-node/README.md`, `docs/integrations/home-assistant.md`, and `harness/ruview/README.md`.
@@ -111,7 +111,12 @@ handler (`health_ready`, `main.rs:8128,8133`) and return a `trust` block
 ```json
 {
  "status": "ready",
+  "source": "esp32",
+  "source_state": "live_unverified",
+  "waiting_for_frames": false,
+  "last_frame_age_ms": 42,
  "trust": {
+    "node_positions": { "1": [0.5, 0.0, 1.0], "2": [4.0, 3.0, 1.0] },
    "last_witness": "…64 hex chars or null…",
    "effective_class": "Anonymous | Restricted | …",
    "demoted": false,
@@ -122,6 +127,11 @@ handler (`health_ready`, `main.rs:8128,8133`) and return a `trust` block
 }
 ```

+`node_positions` is the `--node-positions` map the governed fuser holds,
+keyed by node id. It is `{}` when no positions are configured, and then every
+node fuses at the origin. A node the map does not name also fuses at the
+origin.
+
 **This is a real, currently-shipped diagnostic surface — but it is honestly
 limited.** It tells you *that* errors are occurring and *that* the current
 class is demoted, and the total count, but not *why* for your specific run:
@@ -21,12 +21,18 @@ WiFi DensePose turns commodity WiFi signals into real-time human pose estimation
   - [Windows WiFi (RSSI Only)](#windows-wifi-rssi-only)
   - [ESP32-S3 (Full CSI)](#esp32-s3-full-csi)
   - [ESP32 Multistatic Mesh (Advanced)](#esp32-multistatic-mesh-advanced)
+   - [MediaTek Router CSI (Experimental)](#mediatek-router-csi-experimental)
   - [Connect Mesh Data to the Dashboard and Observatory](#connect-mesh-data-to-the-dashboard-and-observatory)
   - [Cognitum Spaces activation](#cognitum-spaces-activation)
   - [Cognitum Seed Integration (ADR-069)](#cognitum-seed-integration-adr-069)
 5. [REST API Reference](#rest-api-reference)
 6. [WebSocket Streaming](#websocket-streaming)
-7. [Web UI](#web-ui)
+7. [RuView npm toolkit (`@ruvnet/ruview`)](#ruview-npm-toolkit-ruvnetruview)
+   - [Hardware from the command line](#hardware-from-the-command-line)
+   - [MCP for agents, ChatGPT and MCP Apps](#mcp-for-agents-chatgpt-and-mcp-apps)
+   - [Claude Code mod: live sensing pane](#claude-code-mod-live-sensing-pane)
+   - [Homecore and the vitals kernel](#homecore-and-the-vitals-kernel)
+8. [Web UI](#web-ui)
 8. [Vital Sign Detection](#vital-sign-detection)
 9. [CLI Reference](#cli-reference)
 10. [Observatory Visualization](#observatory-visualization)
@@ -104,7 +110,7 @@ Multi-architecture image (amd64 + arm64). Works on Intel/AMD and Apple Silicon M
 | `simulated` | Generate synthetic CSI frames (no hardware required) |
 | `wifi` | Host Wi-Fi RSSI (not available inside containers) |

-Example: `docker run -e CSI_SOURCE=esp32 -p 3000:3000 -p 5005:5005/udp ruvnet/wifi-densepose:latest`
+Example: `docker run -e RUVIEW_API_TOKEN -e CSI_SOURCE=esp32 -e RUVIEW_UDP_ALLOW=<node-ip-or-cidr> -p 127.0.0.1:3000:3000 -p 5005:5005/udp ruvnet/wifi-densepose:latest`. The container exits with code 64 unless `RUVIEW_API_TOKEN` is set, and receives no ESP32 frames until a UDP source guard is set; see [Receiving ESP32 frames in Docker](#receiving-esp32-frames-in-docker).

 ### From Source (Rust)

@@ -256,8 +262,9 @@ Non-interactive:
 ### 30-Second Demo (Docker)

 ```bash
-# Pull and run
-docker run -p 3000:3000 -p 3001:3001 ruvnet/wifi-densepose:latest
+# Pull and run (the container exits with code 64 without an API token)
+export RUVIEW_API_TOKEN=$(openssl rand -hex 32)
+docker run -p 127.0.0.1:3000:3000 -p 127.0.0.1:3001:3001 -e RUVIEW_API_TOKEN ruvnet/wifi-densepose:latest

 # Open the UI in your browser
 # http://localhost:3000
@@ -297,7 +304,11 @@ All endpoints return JSON. In simulated mode, data is generated from a determini

 ## Data Sources

-The `--source` flag controls where CSI data comes from.
+The `--source` flag controls where CSI data comes from. Valid values are
+`auto`, `esp32`, `wifi`, and `simulated` (alias `simulate`), plus the vendor
+feeds `mediatek`, `qualcomm`, `realtek` (RTL8720F radar), and `realtek_csi`
+(RTL8721Dx CSI), which bind the UDP receiver like `esp32`. Any other value
+stops the server at startup with an error that lists them.

 ### Simulated Mode (No Hardware)

@@ -330,26 +341,24 @@ docker run --network host ruvnet/wifi-densepose:latest --source wifi --tick-ms 5

 ### macOS WiFi (RSSI Only)

-Uses CoreWLAN via a Swift helper binary. macOS Sonoma 14.4+ redacts real BSSIDs; the adapter generates deterministic synthetic MACs so the multi-BSSID pipeline still works.
+Uses CoreWLAN via a Swift helper binary. macOS Sonoma 14.4+ redacts real BSSIDs; the adapter generates deterministic synthetic MACs so the multi-BSSID pipeline still works. On macOS, `--source wifi` selects the CoreWLAN scanner; there is no separate `macos` value.

 ```bash
 # Compile the Swift helper (once)
 swiftc -O archive/v1/src/sensing/mac_wifi.swift -o mac_wifi

 # Run natively
-./target/release/sensing-server --source macos --http-port 3000 --ws-port 3001 --tick-ms 500
+./target/release/sensing-server --source wifi --http-port 3000 --ws-port 3001 --tick-ms 500
 ```

 See [ADR-025](adr/ADR-025-macos-corewlan-wifi-sensing.md) for details.

 ### Linux WiFi (RSSI Only)

-Uses `iw dev <iface> scan` to capture RSSI. Requires `CAP_NET_ADMIN` (root) for active scans; use `scan dump` for cached results without root.
-
-```bash
-# Run natively (requires root for active scanning)
-sudo ./target/release/sensing-server --source linux --http-port 3000 --ws-port 3001 --tick-ms 500
-```
+The sensing server does not have a Linux RSSI source yet. `--source wifi`
+on Linux runs the Windows `netsh` scanner, which is not present there, and
+`--source linux` is rejected at startup. Use an ESP32 node (`--source esp32`)
+on Linux.

 ### ESP32-S3 (Full CSI)

@@ -360,11 +369,39 @@ Real Channel State Information at 20 Hz with 56-192 subcarriers. Required for po
 ./target/release/sensing-server --source esp32 --udp-port 5005 --http-port 3000 --ws-port 3001

 # Docker (use CSI_SOURCE environment variable)
-docker run -p 3000:3000 -p 3001:3001 -p 5005:5005/udp -e CSI_SOURCE=esp32 ruvnet/wifi-densepose:latest
+docker run -p 127.0.0.1:3000:3000 -p 127.0.0.1:3001:3001 -p 5005:5005/udp \
+  -e RUVIEW_API_TOKEN -e CSI_SOURCE=esp32 -e RUVIEW_UDP_ALLOW=<node-ip-or-cidr> \
+  ruvnet/wifi-densepose:latest
 ```

 The ESP32 nodes stream binary CSI frames over UDP to port 5005. See [Hardware Setup](#esp32-s3-mesh) for flashing instructions.

+#### Receiving ESP32 frames in Docker
+
+The sensing server binds its UDP receiver to `127.0.0.1` by default (ADR-296). Inside a container that address cannot receive anything from a published `5005/udp` port, so no node ever appears. The image's entrypoint binds UDP on `0.0.0.0` only when you set a source guard, and prints a note at startup when you have not:
+
+| Variable | Effect |
+|----------|--------|
+| `RUVIEW_API_TOKEN` | Required. Without it (or `RUVIEW_ALLOW_UNAUTHENTICATED=1`) the container exits with code 64. |
+| `RUVIEW_UDP_ALLOW=<ip-or-cidr>` | Accept frames only from these sources. Preferred. |
+| `RUVIEW_UDP_INSECURE_LAN=true` | Accept frames from any source. The UDP data plane is not authenticated, so only use this on a trusted network. |
+| `RUVIEW_UDP_BIND` | Explicit UDP bind address. Overrides the entrypoint's choice. |
+| `SENSING_ALLOWED_HOSTS=<host-ip>` | Needed to open the UI from another machine; otherwise the server answers 421. That also requires publishing the TCP ports beyond `127.0.0.1`. |
+
+**macOS (Docker Desktop, OrbStack):** datagrams reach the container from the Docker bridge gateway, not from the node's LAN address, so an allowlist that names your LAN subnet drops every frame. Allow the gateway instead:
+
+```bash
+export RUVIEW_API_TOKEN=$(openssl rand -hex 32)
+GW=$(docker network inspect bridge --format '{{(index .IPAM.Config 0).Gateway}}')
+docker run --rm -d --name ruview \
+  -p 127.0.0.1:3000:3000 -p 127.0.0.1:3001:3001 -p 5005:5005/udp \
+  -e RUVIEW_API_TOKEN -e CSI_SOURCE=esp32 -e RUVIEW_UDP_ALLOW="$GW/32" \
+  ruvnet/wifi-densepose:latest
+curl -s -H "Authorization: Bearer $RUVIEW_API_TOKEN" localhost:3000/api/v1/nodes
+```
+
+Allowing the gateway admits anything that can reach the published port, so keep `5005/udp` off untrusted networks. Node identity still comes from the frame payload. With Docker Compose the service runs on the project network (`<project>_default`), so inspect that network's gateway rather than `bridge`. Docker Desktop on Windows has a related source-address problem; see [TROUBLESHOOTING.md](TROUBLESHOOTING.md).
+
 ### ESP32 Multistatic Mesh (Advanced)

 For higher accuracy with through-wall tracking, deploy 3-6 ESP32-S3 nodes in a **multistatic mesh** configuration. Each node acts as both transmitter and receiver, creating multiple sensing paths through the environment.
@@ -386,6 +423,16 @@ The mesh uses a **Time-Division Multiplexing (TDM)** protocol so nodes take turn

 See [ADR-029](adr/ADR-029-ruvsense-multistatic-sensing-mode.md) and [ADR-032](adr/ADR-032-multistatic-mesh-security-hardening.md) for the full design.

+### MediaTek Router CSI (Experimental)
+
+An OpenWrt router with an MT7981B + MT7976C radio (tested on a Wavlink WL-WN586X3 Rev A) can report CSI through MediaTek's vendor CSI patch. A host-side bridge converts it to MTC1 (ADR-267) for the sensing server:
+
+```bash
+./target/release/sensing-server --source mediatek --udp-port 5005 --http-port 3000 --ws-port 3001
+```
+
+Frames are labelled `mediatek:physical-unvalidated`. The presence and activity outputs on this source are uncalibrated heuristics with no sensing-quality validation. CSI exists only while associated clients transmit. See the [MediaTek Router CSI guide](mediatek-router-csi.md) for the OpenWrt build, arming CSI, the bridge, and limitations.
+
 ### Connect Mesh Data to the Dashboard and Observatory

 If a standalone `aggregator` command prints live packets, the ESP32 fleet is already reaching that host. To visualize the same data, stop the standalone aggregator and run `sensing-server` on that same host and UDP port. The sensing server is the aggregator used by the REST API, WebSocket stream, dashboard, and Observatory.
@@ -402,13 +449,17 @@ cargo run -p wifi-densepose-sensing-server -- \

 # Docker
 docker run --rm \
+  -e RUVIEW_API_TOKEN \
  -e CSI_SOURCE=esp32 \
-  -p 3000:3000 \
-  -p 3001:3001 \
+  -e RUVIEW_UDP_ALLOW=<node-ip-or-cidr> \
+  -p 127.0.0.1:3000:3000 \
+  -p 127.0.0.1:3001:3001 \
  -p 5005:5005/udp \
  ruvnet/wifi-densepose:latest
 ```

+On macOS Docker the allowlist must name the bridge gateway; see [Receiving ESP32 frames in Docker](#receiving-esp32-frames-in-docker).
+
 Open the UI from the sensing server, not from a local file:

 | View | URL |
@@ -420,10 +471,20 @@ Use these checks before debugging the browser:

 ```bash
 curl http://localhost:3000/health
+curl http://localhost:3000/api/v1/status
 curl http://localhost:3000/api/v1/nodes
 curl http://localhost:3000/api/v1/sensing/latest
 ```

+`/api/v1/status` reports whether frames are actually arriving:
+
+| `source_state` | Meaning |
+|---|---|
+| `disconnected` | A live source is configured but no frame has arrived yet. `waiting_for_frames` is `true` and `last_frame_age_ms` is `null`. |
+| `live_unverified` | Frames are arriving. `last_frame_age_ms` is under 5000. |
+| `stale` | Frames arrived, then stopped for more than 5 seconds. For a hardware source, `source` gains an `:offline` suffix (for example `esp32:offline`). |
+| `synthetic` | Simulated data. Never shown as live. |
+
 If the ESP32 nodes are provisioned with `--target-ip <AGGREGATOR_HOST>`, that IP must be the machine running `sensing-server`. Only one process can receive UDP `:5005` at a time, so leave the standalone hardware `aggregator` off while the dashboard or Observatory is live.

 ### Cognitum Spaces activation
@@ -451,8 +512,8 @@ authority. Versioned collections are `sites`, `buildings`, `floors`,
 The dependency-free contributor harness exposes the same read path:

 ```bash
-npx @ruvnet/ruview@0.5.0 spaces --resource alerts --limit 25
-npx @ruvnet/ruview@0.5.0 mcp start
+npx @ruvnet/ruview@0.9.1 spaces --resource alerts --limit 25
+npx @ruvnet/ruview@0.9.1 mcp start
 ```

 Its MCP tool is `ruview_spaces_list`. MCP reads are OAuth-only, use the fixed
@@ -582,6 +643,8 @@ Base URL: `http://localhost:3000` (Docker) or `http://localhost:8080` (binary de
 | `GET` | `/api/v1/mesh/metrics` | ADR-110 mesh state in Prometheus exposition format ([iter 36](adr/ADR-110-esp32-c6-firmware-extension.md)) | `wifi_densepose_mesh_offset_us{node="9"} 1163565\n…` |
 | `GET` | `/api/field` | ADR-262 P3 — latest **signed RuField `FieldEvent`s** from the live sensing cycle, plus the signer pubkey + a `dev_signing_key` flag. Only egress-safe (P1/P2) events are surfaced; identity/biometric (P4/P5) and raw (P0) are held edge-local | `{"spec":"rufield","signer_pubkey_hex":"…","dev_signing_key":true,"events":[…]}` |

+Recording and model files live under the server's `--data-dir` (env `RUVIEW_DATA_DIR`, default `data`, resolved against the directory the server was started from): recordings in `<data-dir>/recordings/`, `.rvf` models in `<data-dir>/models/` unless `MODELS_DIR` is set, and the adaptive classifier in `<data-dir>/adaptive_model.json`.
+
 ### RuField surface (ADR-262 P3)

 RuView's live WiFi-CSI sensing now also speaks the standalone **RuField MFS** wire format. Each governed sensing cycle is converted (via the `wifi-densepose-rufield` anti-corruption bridge) into a **signed** `FieldEvent` (`Modality::WifiCsi`, ed25519 `ProvenanceRef`) and surfaced on two additive endpoints:
@@ -838,7 +901,14 @@ Full design + operator guide: [`docs/integrations/home-assistant.md`](integratio
 sensing-server --mqtt --mqtt-host <broker> --mqtt-tls --privacy-mode
 ```

-`--privacy-mode` strips heart rate, breathing rate, and pose keypoints from MQTT **and** Matter — they never reach the wire. Semantic primitives stay published because they're inferred *states* server-side, not biometric *values*. This is the architectural win that makes ADR-115 healthcare- and enterprise-deployable.
+`--privacy-mode` (env `RUVIEW_PRIVACY_MODE`) is a server-wide flag. It withholds heart rate, breathing rate, and pose keypoints from every output:
+
+- REST responses: the fields are removed from every JSON body (`/api/v1/sensing/latest`, `/api/v1/vital-signs`, `/api/v1/edge-vitals`, `/api/v1/pose/current`, ...). `/api/v1/pose/current?view=both|refined` returns `403` with `"code": "privacy_mode"`.
+- WebSocket streams: `/ws/sensing` and `/api/v1/stream/pose` frames are filtered the same way.
+- Recordings started with `POST /api/v1/recording/start` are written already filtered.
+- MQTT and Matter: those entities are neither announced nor published.
+
+Presence, motion, person count, zones and the coarse posture label are still served, and semantic primitives stay published because they're inferred *states*, not biometric *values*. Some of those states (sleeping, possible distress) are derived from vitals, so they are still health-related information. Privacy mode reduces what leaves the server. It does not by itself make a deployment compliant with any regulation.

 ### Matter Bridge (Apple Home / Google Home / Alexa / SmartThings)

@@ -958,6 +1028,164 @@ Source: [`tools/ruview-mcp/`](../tools/ruview-mcp/README.md). Tracking issue: [#

 ---

+## RuView npm toolkit (`@ruvnet/ruview`)
+
+`@ruvnet/ruview` is RuView's operator toolkit on npm. It has no runtime
+dependencies and runs on Node 20+. It is tested on Windows and Linux. One tool
+registry serves:
+- a CLI;
+- an MCP server (stdio, or HTTP for ChatGPT);
+- a typed SDK;
+- a Claude Code mod.
+
+Every result is honest about what it is:
+- **MEASURED** when it comes from live packets on your machine;
+- **SYNTHETIC** for simulators and self-tests;
+- **device-reported** for values a radar's own firmware computes, which are
+  not validated against a reference.
+
+```bash
+npx @ruvnet/ruview@0.9.1 --help
+npx @ruvnet/ruview@0.9.1 doctor          # what works on this machine, with fixes
+```
+
+In a terminal, commands print a formatted view. Pipes and `--json` print JSON,
+for scripts.
+
+### Hardware from the command line
+
+Run these on the machine the hardware is plugged into.
+
+```bash
+# What is plugged in (USB VID:PID → ESP32, Realtek RTL8721Dx, radar, LiDAR)
+npx @ruvnet/ruview@0.9.1 devices
+
+# CSI nodes streaming to this machine (UDP 5005): ESP32 ADR-018 frames and
+# Realtek RAC1 frames, per node rate, loss, RSSI and CSI shape
+npx @ruvnet/ruview@0.9.1 esp32 --seconds 10
+npx @ruvnet/ruview@0.9.1 esp32 --watch                 # live view, redrawn every few seconds
+npx @ruvnet/ruview@0.9.1 esp32 --seconds 45 --analyze  # live CSI through the vitals kernel
+
+# A board's serial console, without resetting it
+npx @ruvnet/ruview@0.9.1 monitor --port COM9
+npx @ruvnet/ruview@0.9.1 monitor --port COM10 --baud 1500000   # Realtek Ameba
+
+# 60 GHz / 24 GHz radar: raw UART, or an ESPHome kit on your network
+npx @ruvnet/ruview@0.9.1 mmwave --port COM5 --model auto
+npx @ruvnet/ruview@0.9.1 mmwave --source esphome --host 192.168.1.50
+
+# Flash ESP32 firmware: plan first, then write with --confirm (records boot evidence)
+npx @ruvnet/ruview@0.9.1 flash-plan --port COM16 --bundle firmware/esp32-csi-node/release_bins/c6-adr110 --variant c6
+npx @ruvnet/ruview@0.9.1 flash --port COM16 --bundle firmware/esp32-csi-node/release_bins/c6-adr110 --variant c6 --confirm
+```
+
+**What the alerts mean:**
+
+| Alert | Meaning |
+|---|---|
+| `heartbeat-only sender` | A board is alive but sends no CSI. On a Realtek board, run `monitor --baud 1500000`. If it shows `lack of csi buf`, the board ran out of CSI report buffers (`csi_buffer_starvation`). Reset it. |
+| `port_in_use` | The sensing server already holds UDP 5005. Stop it, or capture on another port your nodes target. |
+| `no_decodable_packets` | Packets arrived, but none were in a known RuView format. Check the sender. |
+| `seqReordered` / `seqStrays` | Out-of-order or stray sequence numbers. These are not counted as loss. |
+
+**ESPHome radar kits** (for example the Seeed MR60BHA2): the kit's firmware
+owns the radar, so read it over the network with `--source esphome`.
+- If the kit cannot join your WiFi, it starts a fallback hotspot. Join it and
+  set your network in its captive portal, at `http://192.168.4.1`.
+- Only private-network addresses are accepted.
+- Encrypted or password-protected ESPHome APIs are reported as unsupported.
+
+### MCP for agents, ChatGPT and MCP Apps
+
+```bash
+# Claude Code, Codex or any MCP client (stdio)
+claude mcp add ruview -- npx -y @ruvnet/ruview@0.9.1 mcp start
+
+# HTTP, for ChatGPT and remote clients
+export RUVIEW_MCP_TOKEN="$(node -e "console.log(require('crypto').randomBytes(24).toString('base64url'))")"
+RUVIEW_MCP_GRANTS=device-access npx @ruvnet/ruview@0.9.1 mcp start --http --port 8790
+```
+
+**Connecting ChatGPT.** Clients that can send headers use
+`Authorization: Bearer <token>`. ChatGPT connectors cannot, so:
+1. Expose the port over HTTPS, with a tunnel or reverse proxy.
+2. Add `https://<your-host>/mcp/<token>` as the connector URL.
+
+**Least authority:**
+- Hardware tools need the `device-access` grant.
+- The HTTP transport binds to localhost by default.
+- It refuses unknown browser origins.
+- It never allows flashing or calibration, whatever grants are set.
+
+Node captures, radar reads, device scans and doctor results render in the
+**RuView console**: a widget that ChatGPT and other MCP Apps hosts show inline,
+with a Refresh button that re-runs the tool.
+
+### Claude Code mod: live sensing pane
+
+The package ships `ruview-live`, a Claude Code mod. `/ruview` opens a pane
+beside the conversation, refreshed on a timer, showing:
+- your CSI nodes;
+- an optional ESPHome radar;
+- alerts.
+
+It also keeps a status line such as `RuView · 2 nodes · radar present`.
+
+Keys `1`, `2` and `3` switch between three views (ADR-378):
+- **Overview**: the cards.
+- **CSI waterfall**: per-subcarrier amplitude over time, labelled MEASURED or
+  SYNTHETIC; `n` cycles nodes.
+- **Radar**: a range fan with an animated ping, plus heart, breathing and
+  distance charts. The values are device-reported and not validated, and the
+  kit reports range, not bearing.
+
+The two live views draw in terminal cells and animate in place.
+
+```bash
+npx @ruvnet/ruview@0.9.1 mod           # prints the mod's path in your install and how to load it
+claude --plugin-dir "<that path>"       # try it for one session
+# or from the RuView marketplace, inside Claude Code:
+#   /plugin marketplace add ruvnet/RuView
+#   /plugin install ruview-live@ruview
+```
+
+| In Claude Code | Does |
+|---|---|
+| `/ruview` | Open or close the pane |
+| `/ruview refresh` | Run one capture now; the result goes in the status line |
+| `/ruview off` | Close the pane |
+| `/ruview waterfall` / `/ruview radar` | Open on that view |
+
+**Settings** (`claude plugin configure ruview-live`): `udpPort`, `radarHost`,
+`refreshSeconds`, `captureSeconds` and `liveRefreshSeconds` (live views,
+default 4 s).
+
+The mod only runs the package's read-only CLI commands. Mods are early access:
+if `/ruview` is missing, start Claude Code with
+`CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1`.
+
+### Homecore and the vitals kernel
+
+```bash
+npx homecore@0.1.0 guidance --topic plugins --query Wasmtime   # Homecore developer metaharness
+npx @ruvnet/ruview-kernel@0.1.0 selftest                       # vitals pipeline as WASM (SYNTHETIC self-test)
+```
+
+`esp32 --analyze` uses the kernel when it is installed. Its heart and breathing
+estimates carry "no reference measurement": they show the signal path works,
+not that the readings are accurate.
+
+Design records:
+- [ADR-373](adr/ADR-373-host-device-access-layer.md): device access;
+- [ADR-375](adr/ADR-375-ruview-mcp-apps-console-http-transport-and-terminal-ui.md):
+  MCP Apps console, HTTP transport and terminal UI;
+- [ADR-376](adr/ADR-376-ruview-umbrella-npm-package.md): the one-install
+  `ruview` package, pending the npm name;
+- [ADR-377](adr/ADR-377-ruview-live-claude-code-mod.md): the Claude Code mod.
+- [ADR-378](adr/ADR-378-ruview-live-showcase-views.md): the mod's CSI waterfall and radar views (keys 1/2/3, `esp32 --spectrum`).
+
+---
+
 ## Web UI

 The built-in Three.js UI is served at `http://localhost:3000/ui/` (Docker) or the configured HTTP port.
@@ -1114,7 +1342,7 @@ The Rust sensing server binary accepts the following flags:

 | Flag | Default | Description |
 |------|---------|-------------|
-| `--source` | `auto` | Data source: `auto`, `simulate`, `wifi`, `esp32` |
+| `--source` | `auto` | Data source: `auto`, `esp32`, `wifi`, `simulated` (alias `simulate`), `mediatek`, `qualcomm`, `realtek`, `realtek_csi`. Other values are rejected at startup |
 | `--http-port` | `8080` | HTTP port for REST API and UI |
 | `--ws-port` | `8765` | WebSocket port |
 | `--udp-port` | `5005` | UDP port for ESP32 CSI frames |
@@ -1331,7 +1559,7 @@ curl -X POST http://localhost:3000/api/v1/recording/start \
 curl -X POST http://localhost:3000/api/v1/recording/stop
 ```

-Recordings are saved as JSONL files in `data/recordings/`. Filenames must start with `train_` and contain a class keyword:
+Recordings are saved as JSONL files in `recordings/` under the server's `--data-dir` (default `data`, so `data/recordings/` relative to the directory the server was started from). Filenames must start with `train_` and contain a class keyword:

 | Filename pattern | Class |
 |-----------------|-------|
@@ -1348,7 +1576,7 @@ Train the adaptive classifier from your labeled recordings:
 curl -X POST http://localhost:3000/api/v1/adaptive/train
 ```

-The server trains a multiclass logistic regression on 15 features using mini-batch SGD (200 epochs). Training completes in under 1 second for typical recording sets. The trained model is saved to `data/adaptive_model.json` and automatically loaded on server restart.
+The server trains a multiclass logistic regression on 15 features using mini-batch SGD (200 epochs). Training completes in under 1 second for typical recording sets. The trained model is saved to `adaptive_model.json` in the `--data-dir` (default `data/adaptive_model.json`) and automatically loaded on server restart.

 **Check model status:**

@@ -1368,7 +1596,7 @@ Once trained, the adaptive model runs automatically:

 1. Each CSI frame is classified using the learned weights instead of static thresholds
 2. Model confidence is blended with smoothed threshold confidence (70/30 split)
-3. The model persists across server restarts (loaded from `data/adaptive_model.json`)
+3. The model persists across server restarts (loaded from `<data-dir>/adaptive_model.json`)

 **Tips for better accuracy:**

@@ -1683,31 +1911,51 @@ A 3-6 node ESP32-S3 mesh provides full CSI at 20 Hz. Total cost: ~$54 for a 3-no

 **Flashing firmware:**

-Pre-built binaries are available at [Releases](https://github.com/ruvnet/RuView/releases):
+Use versioned bundles from [Releases](https://github.com/ruvnet/RuView/releases),
+not the historical binaries in `firmware/esp32-csi-node/release_bins/`.
+The 0.8.14 prerelease fixes USB device identity and adds OTA key provisioning.
+It has CI build/host-test coverage; new physical-board qualification remains
+pending. The previous stable firmware is 0.8.8.

 | Release | What It Includes | Tag |
 |---------|-----------------|-----|
-| [v0.7.0](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32) | **Latest — ADR-110 firmware-side substrate closed.** Adds ESP-NOW mesh substrate with quantified ≤100 µs alignment (104.1 µs smoothed stdev, 3.95× suppression, 99.56 % cross-board match measured live), 32-byte sync-packet UDP emission with operator-tunable cadence, ADR-018 byte 19 bit 4 wire-fix sourced from working ESP-NOW path, Python SyncPacketParser stub for host wiring ([WITNESS-LOG-110 §A0.7-§A0.13](WITNESS-LOG-110.md)) | `v0.7.0-esp32` |
+| [v0.8.14](https://github.com/ruvnet/RuView/releases/tag/v0.8.14-esp32) | **Prerelease:** corrected C6 base-MAC identity, OTA key provisioning without a host key cache; physical qualification pending | `v0.8.14-esp32` |
+| [v0.8.8](https://github.com/ruvnet/RuView/releases/tag/v0.8.8-esp32) | Previous stable firmware: consistent occupancy and rate-aware C6 processing; see [release evidence](releases/v0.8.8-esp32.md) | `v0.8.8-esp32` |
+| [v0.7.0](https://github.com/ruvnet/RuView/releases/tag/v0.7.0-esp32) | Historical ADR-110 firmware-side substrate: ESP-NOW synchronization and sync-packet UDP emission ([WITNESS-LOG-110 §A0.7-§A0.13](WITNESS-LOG-110.md)) | `v0.7.0-esp32` |
 | [v0.6.9](https://github.com/ruvnet/RuView/releases/tag/v0.6.9-esp32) | Sync-packet UDP emission, `CONFIG_C6_SYNC_EVERY_N_FRAMES` tunable cadence | `v0.6.9-esp32` |
 | [v0.6.8](https://github.com/ruvnet/RuView/releases/tag/v0.6.8-esp32) | ESP-NOW EMA-smoothed cross-board offset (3.95× suppression, 104 µs stdev) | `v0.6.8-esp32` |
 | [v0.6.7](https://github.com/ruvnet/RuView/releases/tag/v0.6.7-esp32) | Real LP-core motion-gate RISC-V program (B4 code path complete) + Wi-Fi 6 soft-AP with TWT Responder for two-board iTWT benches (B1/B2 unblock) | `v0.6.7-esp32` |
-| [v0.5.0](https://github.com/ruvnet/RuView/releases/tag/v0.5.0-esp32) | **Stable (S3 mesh, recommended)** — mmWave sensor fusion (MR60BHA2/LD2410 auto-detect), 48-byte fused vitals, all v0.4.3.1 fixes | `v0.5.0-esp32` |
+| [v0.5.0](https://github.com/ruvnet/RuView/releases/tag/v0.5.0-esp32) | Historical S3 mesh release — mmWave sensor fusion (MR60BHA2/LD2410 auto-detect), 48-byte fused vitals, all v0.4.3.1 fixes | `v0.5.0-esp32` |
 | [v0.4.3.1](https://github.com/ruvnet/RuView/releases/tag/v0.4.3.1-esp32) | Fall detection fix ([#263](https://github.com/ruvnet/RuView/issues/263)), 4MB flash ([#265](https://github.com/ruvnet/RuView/issues/265)), watchdog fix ([#266](https://github.com/ruvnet/RuView/issues/266)) | `v0.4.3.1-esp32` |
 | [v0.4.1](https://github.com/ruvnet/RuView/releases/tag/v0.4.1-esp32) | CSI build fix, compile guard, AMOLED display, edge intelligence ([ADR-057](../docs/adr/ADR-057-firmware-csi-build-guard.md)) | `v0.4.1-esp32` |
 | [v0.3.0-alpha](https://github.com/ruvnet/RuView/releases/tag/v0.3.0-alpha-esp32) | Alpha — adds on-device edge intelligence (ADR-039) | `v0.3.0-alpha-esp32` |
 | [v0.2.0](https://github.com/ruvnet/RuView/releases/tag/v0.2.0-esp32) | Raw CSI streaming, TDM, channel hopping, QUIC mesh | `v0.2.0-esp32` |

-> **Important:** Always use **v0.4.3.1 or later**. Earlier versions have false fall detection alerts (v0.4.2 and below) and CSI disabled in the build config (pre-v0.4.1).
+For 0.8.14, select the correct archive, verify its release `SHA256SUMS.txt`,
+extract into a separate directory, then verify the enclosed checksums:
+
+| Archive | Board configuration |
+|---------|---------------------|
+| `esp32-csi-node-firmware-8mb.tar.gz` | ESP32-S3 display build, 8 MB flash |
+| `esp32-csi-node-firmware-4mb.tar.gz` | ESP32-S3 headless build, 4 MB layout |
+| `esp32-csi-node-firmware-c6-4mb.tar.gz` | ESP32-C6 research target, 4 MB layout |
+
+Bare 8 MB DevKitC boards need the source `sdkconfig.defaults.devkitc` overlay;
+do not use the display build. See the [firmware guide](../firmware/esp32-csi-node/README.md#0-download-a-versioned-firmware-bundle)
+for board selection, C6 filenames, backup and OTA guidance.

 ```bash
-# Flash an ESP32-S3 with 8MB flash (most boards)
+# From the extracted ESP32-S3 display / 8 MB bundle:
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
  write-flash --flash-mode dio --flash-size 8MB --flash-freq 80m \
  0x0 bootloader.bin 0x8000 partition-table.bin \
  0xf000 ota_data_initial.bin 0x20000 esp32-csi-node.bin
 ```

-**4MB flash boards** (e.g. ESP32-S3 SuperMini 4MB): download `esp32-csi-node-s3-4mb.bin` + `partition-table-s3-4mb.bin` from the [v0.6.7 release](https://github.com/ruvnet/RuView/releases/tag/v0.6.7-esp32) (882 KB binary, 52 % partition slack) and use `--flash-size 4MB`:
+**4 MB headless S3 boards:** use the matching application and partition table
+from `esp32-csi-node-firmware-4mb.tar.gz` on the
+[0.8.14 prerelease](https://github.com/ruvnet/RuView/releases/tag/v0.8.14-esp32)
+and select `--flash-size 4MB`:

 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
@@ -1724,6 +1972,9 @@ python firmware/esp32-csi-node/provision.py --port COM7 \
 ```

 Replace `192.168.1.20` with the IP of the machine running the sensing server.
+To enable authenticated OTA updates, add `--ota-psk-file` with a private
+64-hex key file. The key must be resupplied on later NVS writes; it is never
+cached in host state. See [OTA key provisioning](../firmware/esp32-csi-node/README.md#ota-key-provisioning).

 **Mesh key provisioning (secure mode):**

@@ -1884,8 +2135,10 @@ Binary size: 990 KB (8MB flash, 52% free) or 773 KB (4MB flash). v0.5.0 adds mmW
 # From source
 ./target/release/sensing-server --source esp32 --udp-port 5005 --http-port 3000 --ws-port 3001

-# Docker (use CSI_SOURCE environment variable)
-docker run -p 3000:3000 -p 3001:3001 -p 5005:5005/udp -e CSI_SOURCE=esp32 ruvnet/wifi-densepose:latest
+# Docker (see "Receiving ESP32 frames in Docker" for the UDP source guard)
+docker run -p 127.0.0.1:3000:3000 -p 127.0.0.1:3001:3001 -p 5005:5005/udp \
+  -e RUVIEW_API_TOKEN -e CSI_SOURCE=esp32 -e RUVIEW_UDP_ALLOW=<node-ip-or-cidr> \
+  ruvnet/wifi-densepose:latest
 ```

 See [ADR-018](../docs/adr/ADR-018-esp32-dev-implementation.md), [ADR-029](../docs/adr/ADR-029-ruvsense-multistatic-sensing-mode.md), and [Tutorial #34](https://github.com/ruvnet/RuView/issues/34).
@@ -2214,6 +2467,8 @@ For production deployments with both Rust and Python services:

 ```bash
 cd docker
+export RUVIEW_API_TOKEN=$(openssl rand -hex 32)
+export RUVIEW_UDP_ALLOW=<node-ip-or-cidr>   # macOS Docker: <gateway>/32
 docker compose up
 ```

@@ -2221,6 +2476,8 @@ This starts:
 - Rust sensing server on ports 3000 (HTTP), 3001 (WS), 5005 (UDP)
 - Python legacy server on ports 8080 (HTTP), 8765 (WS)

+The sensing server exits with code 64 when `RUVIEW_API_TOKEN` is unset. Without `RUVIEW_UDP_ALLOW` or `RUVIEW_UDP_INSECURE_LAN=true` it starts but receives no ESP32 frames. `docker/docker-compose.yml` passes these variables through from your shell, along with `RUVIEW_UDP_BIND` and `SENSING_ALLOWED_HOSTS`. See [Receiving ESP32 frames in Docker](#receiving-esp32-frames-in-docker).
+
 ---

 ## Testing Firmware Without Hardware (QEMU)
@@ -19,7 +19,23 @@ This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 (pr
 > | **Fall detection** | Phase acceleration threshold | Configurable sensitivity |
 > | **Programmable sensing** | WASM modules loaded over HTTP | Hot-swap, no reflash |

-## Firmware 0.8.12: guided Mac onboarding
+## Firmware 0.8.14 prerelease: device identity and OTA provisioning
+
+Version 0.8.14 fixes the six-byte base-MAC input used for USB onboarding on
+ESP32-C6, where the previous API wrote an eight-byte EUI-64 into that buffer.
+The PSA SHA-256 algorithm and domain remain unchanged. Affected boards now
+report a corrected `device_digest`; rediscover and reselect the physical board
+after updating rather than accepting its old saved digest.
+
+The provisioner can also write the OTA authentication key to `security/ota_psk`
+using `--ota-psk-file`. The key is never cached in host state. See
+[OTA key provisioning](#ota-key-provisioning) before reprovisioning a node.
+
+This prerelease is built from the main source line. CI builds and host tests
+do not establish physical-board qualification or sensing accuracy. The older
+0.8.13 prerelease's unmerged watchdog experiments are not included.
+
+### Guided Mac onboarding (introduced in 0.8.12)

 Firmware 0.8.12 adds the protocol used by the RuView macOS Add
 Sensor workflow. A directly attached S3 or C6 can identify itself through a
@@ -67,22 +83,34 @@ measured evidence and limitations.

 For users who want to get running fast. Detailed explanations follow in later sections.

-### 0. Download the 0.8.8 release
+### 0. Download a versioned firmware bundle

 Use the versioned source tag and binaries on the
-[v0.8.8 ESP32 release page](https://github.com/ruvnet/RuView/releases/tag/v0.8.8-esp32).
+[v0.8.14 ESP32 prerelease page](https://github.com/ruvnet/RuView/releases/tag/v0.8.14-esp32).
+For the previous stable firmware and its hardware evidence, see
+[v0.8.8](https://github.com/ruvnet/RuView/releases/tag/v0.8.8-esp32).
 Choose the package that names both your chip and flash size:

 | Package | Use it for |
 |---------|------------|
-| `esp32-csi-node-v0.8.8-s3-8mb-flash-bundle.zip` | Fresh ESP32-S3 installation with 8 MB flash |
-| `esp32-csi-node-v0.8.8-s3-4mb-flash-bundle.zip` | Fresh ESP32-S3 installation with 4 MB flash |
-| `esp32-csi-node-v0.8.8-c6-4mb-flash-bundle.zip` | Fresh ESP32-C6 installation using the supported 4 MB layout |
+| `esp32-csi-node-firmware-8mb.tar.gz` | ESP32-S3 display configuration, 8 MB flash |
+| `esp32-csi-node-firmware-4mb.tar.gz` | ESP32-S3 headless configuration, 4 MB layout |
+| `esp32-csi-node-firmware-c6-4mb.tar.gz` | ESP32-C6 research target, 4 MB layout |

 Each bundle contains the matching bootloader, partition table, OTA metadata,
-application, checksums, and a short flashing guide. Never flash an S3 bundle
+application, version and checksums. Verify the archive using the release's
+`SHA256SUMS.txt`, extract it into its own directory, then verify the enclosed
+`SHA256SUMS.txt`. Never flash an S3 bundle
 onto a C6, or a C6 bundle onto an S3.

+The 4 MB application/partition filenames are `esp32-csi-node-4mb.bin` and
+`partition-table-4mb.bin`; C6 uses `esp32-csi-node-c6.bin` and
+`partition-table-c6.bin`. Do not mix files from different archives.
+Bare 8 MB DevKitC boards need a source build with `sdkconfig.defaults.devkitc`
+as documented below; the 8 MB release bundle enables display support.
+The tracked `release_bins/` files are historical snapshots and must not be
+used as current firmware downloads (see issues #1899 and #2092).
+
 Example for an 8 MB ESP32-S3 after extracting its bundle:

 ```bash
@@ -98,6 +126,13 @@ For an existing provisioned node, back up its current application and inspect
 `http://DEVICE_IP:8032/ota/status` before choosing an application-only update.
 Writing only offset `0x20000` is safe only when the status endpoint reports
 `running_partition` as `ota_0` and the downloaded image matches the board.
+
+After an OTA, the same endpoint's `ota_state` must read `valid` before you
+power-cycle the node or push again. `pending_verify` means the image has not
+passed its first-boot health check yet and would revert on reset. A passed
+check means only that the node reached the network and sent CSI. See
+[RUNBOOK §2.1](RUNBOOK.md) and ADR-379.
+
 The full bundles do not include NVS, so the documented four-offset install
 preserves WiFi and node configuration while replacing the boot and application
 images.
@@ -161,16 +196,27 @@ board default and emits no antenna-path claim.
 ### 3. Provision WiFi credentials (no reflash needed)

 ```bash
+# Keep the WiFi password in an owner-only file, not on the command line.
+printf '%s\n' 'YourPass' > ~/.wifi-pass && chmod 600 ~/.wifi-pass
 python firmware/esp32-csi-node/provision.py --port COM7 \
-  --ssid "YourSSID" --password "YourPass" --target-ip 192.168.1.20
+  --ssid "YourSSID" --password-file ~/.wifi-pass --target-ip 192.168.1.20
 ```

+Leave out both `--password` and `--password-file` and the script asks for the
+password when run from a terminal. `--password` still works, but it shows up in
+`ps` and shell history.
+
 ### 4. Start the sensing server

 ```bash
-cargo run -p wifi-densepose-sensing-server -- --http-port 3000 --source auto
+cd v2
+cargo run -p wifi-densepose-sensing-server -- --http-port 3000 --source auto \
+  --udp-bind 0.0.0.0 --udp-allow 192.168.1.0/24
 ```

+Use your nodes' subnet for `--udp-allow`. The default UDP listener is loopback
+only, so LAN nodes need both the bind address and an explicit source allowlist.
+
 ### 5. Open the UI

 Navigate to [http://localhost:3000](http://localhost:3000) in your browser.
@@ -261,8 +307,8 @@ Adds real-time health and safety monitoring.
  drives the on-screen skeleton from signal-based heuristics (amplitude
  variance, motion-band power), not from learned keypoint inference. The
  repository does not ship pre-trained weights — see issues
-  [#509](../../issues/509) and [#506](../../issues/506) for context, and
-  [ADR-079](../../docs/adr/ADR-079-camera-supervised-pose-finetune.md) for
+  [#509](https://github.com/ruvnet/RuView/issues/509) and [#506](https://github.com/ruvnet/RuView/issues/506) for context, and
+  [ADR-079](../../docs/adr/ADR-079-camera-ground-truth-training.md) for
  the planned training path (phases P7-P9 are `Pending`).
 - The presence indicator is a calibrated variance threshold and **will
  false-positive** under strong RF interference from non-human sources
@@ -362,6 +408,14 @@ The `MSYS_NO_PATHCONV=1` prefix prevents Git Bash from mangling the `/project` p
 - `build/partition_table/partition-table.bin` -- flash partition layout
 - `build/esp32-csi-node.bin` -- application firmware

+### Release bundles
+
+Firmware downloads are published from dedicated `vX.Y.Z-esp32` tags after all
+S3 and C6 matrix builds pass. Each release contains separate S3 8 MB, S3 4 MB,
+and C6 4 MB archives plus an archive checksum manifest. The repository's
+automated `vNNNN` server releases (for example `v2655`) are not firmware tags;
+do not use their presence or absence of assets as firmware provenance.
+
 ### Custom Configuration

 To change Kconfig settings before building:
@@ -432,10 +486,52 @@ The easiest way to write NVS settings:
 ```bash
 python firmware/esp32-csi-node/provision.py --port COM7 \
  --ssid "MyWiFi" \
-  --password "MyPassword" \
+  --password-file ~/.wifi-pass \
  --target-ip 192.168.1.20
 ```

+The password file must be owner-only (`chmod 600`); one trailing newline is
+dropped. Without a password flag the script prompts on a terminal; in scripts
+and CI it doesn't prompt and fails if no password was given now or saved
+earlier for that port.
+
+### OTA key provisioning
+
+Create a random 256-bit key in a private file outside the repository. For
+example, on POSIX:
+
+```bash
+(umask 077; set -C; openssl rand -hex 32 > ~/.ruview-ota-psk)
+python firmware/esp32-csi-node/provision.py --port COM7 \
+  --ssid "MyWiFi" --password-file ~/.wifi-pass --target-ip 192.168.1.20 \
+  --ota-psk-file ~/.ruview-ota-psk
+```
+
+The file must contain exactly 64 hexadecimal characters and optionally one
+trailing newline. The tool rejects symlinks and non-regular files, bounds the
+read, and checks owner-only POSIX permissions. On Windows, protect the file
+with your user ACL; POSIX mode bits cannot enforce Windows ACLs.
+`--ota-psk HEX` is also supported, but exposes the key in process arguments and
+shell history. Key values are never printed by this tool, including `--state
+--show-secrets`, and never saved in the per-board host JSON.
+
+Provisioning rewrites the **whole NVS partition**, not just the key supplied.
+Pass the key again on every later provisioning run. Once this tool records
+that OTA was configured, omission is refused unless `--clear-ota-psk` explicitly
+disables OTA. An older board with no host record cannot be detected this way;
+without a supplied key the tool warns that the rewrite disables OTA. Legacy
+cached OTA keys are hidden from inspection and never reused. A successful
+provisioning run removes them from saved state; read-only inspection leaves
+the existing file unchanged.
+Keep the key backed up securely. A dry-run binary or fallback CSV still
+contains credentials and must remain private and be deleted after use.
+
+This writes `security/ota_psk` through the USB NVS workflow; it does not flash
+application firmware. After reboot, verify the `OTA PSK loaded` log. The HTTP
+server starting alone does not mean OTA authentication is armed. Uploads
+remain fail-closed without a key; see the first-boot health check above after
+an authenticated update.
+
 ### NVS Key Reference

 #### Network Settings
@@ -624,6 +720,7 @@ cargo build -p wifi-densepose-wasm-edge --target wasm32-unknown-unknown --releas
 | `main/nvs_config.c` / `.h` | Runtime configuration: loads Kconfig defaults, overrides from NVS |
 | `main/edge_processing.c` / `.h` | Tier 0-2 DSP pipeline: SPSC ring buffer, biquad IIR filters, Welford stats, BPM extraction, presence, fall detection |
 | `main/ota_update.c` / `.h` | HTTP OTA firmware update server on port 8032 |
+| `main/ota_health.c` / `.h` | First-boot health check that confirms an OTA'd image or rolls it back (ADR-379) |
 | `main/power_mgmt.c` / `.h` | Battery-aware light sleep duty cycling |
 | `main/wasm_runtime.c` / `.h` | WASM3 interpreter: module slots, host API bindings, budget guard, per-frame dispatch |
 | `main/wasm_upload.c` / `.h` | HTTP endpoints for WASM module upload, list, start, stop, delete |
@@ -922,12 +1019,12 @@ This firmware implements or references the following ADRs:

 | ADR | Title | Status |
 |-----|-------|--------|
-| [ADR-018](../../docs/adr/ADR-018-csi-binary-frame-format.md) | CSI binary frame format | Accepted |
+| [ADR-018](../../docs/adr/ADR-018-esp32-dev-implementation.md) | CSI binary frame format | Accepted |
 | [ADR-029](../../docs/adr/ADR-029-ruvsense-multistatic-sensing-mode.md) | Channel hopping and TDM protocol | Accepted |
 | [ADR-039](../../docs/adr/ADR-039-esp32-edge-intelligence.md) | Edge intelligence tiers 0-2 | Accepted |
 | [ADR-040](../../docs/adr/) | WASM programmable sensing (Tier 3) with RVF container format | Alpha |
-| [ADR-057](../../docs/adr/ADR-057-build-time-csi-guard.md) | Build-time CSI guard (`CONFIG_ESP_WIFI_CSI_ENABLED`) | Accepted |
-| [ADR-060](../../docs/adr/ADR-060-channel-mac-filter.md) | Channel override and MAC address filter | Accepted |
+| [ADR-057](../../docs/adr/ADR-057-firmware-csi-build-guard.md) | Build-time CSI guard (`CONFIG_ESP_WIFI_CSI_ENABLED`) | Accepted |
+| [ADR-060](../../docs/adr/ADR-060-provision-channel-mac-filter.md) | Channel override and MAC address filter | Accepted |
 | [ADR-061](../../docs/adr/ADR-061-qemu-esp32s3-firmware-testing.md) | QEMU ESP32-S3 emulation for firmware testing | Proposed |

 ---
@@ -31,9 +31,9 @@ It does **not** pick up `sdkconfig.defaults.16mb`, and that file is where
 `CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y` lives.

 Build without it and you get an image that is correct in every visible respect
-and **cannot roll back a bad OTA** — while `ota_rollback_boot_check()` sits in
-the app expecting the capability. Silent, and only discoverable by pushing a
-deliberately bad image.
+and **cannot roll back a bad OTA**, while `main/ota_health.c` sits in the app
+expecting the capability (it compiles to a no-op without it). Silent, and only
+discoverable by pushing a deliberately bad image. See §2.1.

 That is why the command above concatenates all three explicitly rather than
 relying on discovery.
@@ -104,6 +104,48 @@ Corollary: "every node reports health" proves the **app** is current and proves
 nothing about the bootloader. Do not answer a bootloader question with app
 evidence.

+### 2.1 An OTA'd image must confirm itself (ADR-379)
+
+On a rollback-capable bootloader an OTA'd image boots **`PENDING_VERIFY`**.
+Until it is confirmed, the **next reset reverts to the previous slot** and
+`POST /ota` refuses a second update. `main/ota_health.c` does the confirming:
+
+- It runs only when the running image is `PENDING_VERIFY`. USB-flashed images
+  (the bootloader writes `VALID`), already-confirmed images, `UNDEFINED` and
+  `NEW` are left alone.
+- It confirms once the STA has an IP **and** the stream sender has accepted at
+  least one CSI frame, but not before `CONFIG_OTA_HEALTH_MIN_UPTIME_S`
+  (default 30 s). Log: `ota_health: marked valid after ... in <ms> ms`.
+- If both signals have not arrived by `CONFIG_OTA_HEALTH_TIMEOUT_S` (default
+  120 s from boot), it logs `health check failed: <reason>, rolling back` and
+  reboots into the previous slot. A crash or reset before confirmation is also
+  a rollback.
+- A pass means only "reached the network and sent CSI". It does not show that
+  sensing, calibration, or any other function of the new image works.
+- `GET /ota/status` reports `ota_state`. `pending_verify` means the image is
+  not yet durable. `valid` means it survives a power cycle. `new` after an OTA
+  means this board's bootloader has **no** rollback support.
+
+Consequence for rollouts: wait for `ota_state: "valid"` before pushing again,
+and before power-cycling. If the AP is down when the node boots, a good image
+rolls back. That is expected; re-push it.
+
+**Hardware check, one node.** It needs a node with the OTA PSK provisioned and
+a rollback bootloader.
+
+1. Note `version` and `running_partition` from `/ota/status`.
+2. OTA-push the new image. Watch the log for `OTA image pending verify`, then
+   `marked valid after ... in <ms> ms`. `/ota/status` must show the new
+   version, the other partition, and `ota_state: "valid"`.
+3. Power-cycle it. It must come back on the same version and partition with
+   `ota_state: "valid"`. Before ADR-379 it came back on the old one.
+
+**Negative check.** Build with `CONFIG_OTA_HEALTH_FORCE_FAIL=y` and push it.
+The log must show `health check failed: forced failure ..., rolling back` at
+about `MIN_UPTIME_S`, and the node must come back on the step-2 version and
+partition. Then push a normal image to restore it. Never leave a FORCE_FAIL
+image in `release_bins`.
+
 ---

 ## 3. Deploying
@@ -113,6 +155,16 @@ evidence.
 Works end-to-end and is the default for anything that is not a bootloader or
 partition change. Roll to **one node**, soak it, then the rest.

+**Before ADR-379, `POST /ota` never completed on this firmware.** MEASURED
+2026-09-29 on node 4 (S3, v0.8.12): it overflowed the 4 KB httpd stack
+(`stack overflow in task httpd`, `RTC_SW_CPU_RST`), and the node came back on
+its old slot. The client sees `connection reset`. Any board still on an older
+build has to be moved to a fixed one **over USB**.
+
+The server now runs with `CONFIG_OTA_HTTPD_STACK_SIZE` (8192). Each upload
+logs `httpd stack after POST /ota: N of 8192 bytes never used`. Record that
+number when you verify a node, because it is the evidence the size rests on.
+
 ### Over USB — bootloader, partition table, or recovery

 ```bash
@@ -2,7 +2,7 @@ set(SRCS
    "main.c" "csi_collector.c" "node_log.c"
    "thermal.c" "stream_sender.c" "nvs_config.c"
    "serial_onboarding.c" "serial_onboarding_protocol.c"
-    "edge_processing.c" "ota_update.c" "power_mgmt.c"
+    "edge_processing.c" "ota_update.c" "ota_health.c" "power_mgmt.c"
    "wasm_runtime.c" "wasm_upload.c" "rvf_parser.c"
    "mmwave_sensor.c"
    "swarm_bridge.c"
@@ -332,6 +332,25 @@ menu "WASM Programmable Sensing (ADR-040)"

 endmenu

+menu "OTA / WASM HTTP server (ADR-379)"
+
+config OTA_HTTPD_STACK_SIZE
+    int "Stack size of the OTA / WASM HTTP server task (bytes)"
+    range 4096 16384
+    default 8192
+    help
+      HTTPD_DEFAULT_CONFIG() gives 4096. MEASURED 2026-09-29 on an ESP32-S3
+      (node 4, v0.8.12): every POST /ota overflowed it ("stack overflow in
+      task httpd", RTC_SW_CPU_RST), so no OTA had ever completed on this
+      firmware. The same task runs POST /wasm/upload (signature check plus
+      wasm3 module load) and GET /wasm/list.
+
+      Every OTA and WASM upload logs "httpd stack after <handler>: N of M
+      bytes never used". Lower this only with those numbers in hand, and keep
+      at least 1 KB unused on the worst handler.
+
+endmenu
+
 menu "ESP32-C6 capabilities (ADR-110)"
    depends on IDF_TARGET_ESP32C6

@@ -674,6 +693,50 @@ config UPLINK_WATCHDOG_TIMEOUT_S

 endmenu

+menu "OTA health check (ADR-379)"
+
+config OTA_HEALTH_TIMEOUT_S
+    int "Seconds an OTA'd image has to prove itself before rolling back"
+    depends on BOOTLOADER_APP_ROLLBACK_ENABLE
+    range 30 900
+    default 120
+    help
+      Only applies when the running image is ESP_OTA_IMG_PENDING_VERIFY, i.e.
+      it was just delivered by OTA to a node whose bootloader has
+      CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE. USB-flashed and already-confirmed
+      images are never checked.
+
+      Healthy means: the STA got an IP, and the stream sender accepted at least
+      one CSI frame. Both must happen within this many seconds of boot, or the
+      image is marked invalid and the node reboots into the previous slot.
+
+      Measured from boot, and the WiFi boot wait alone can take about two
+      minutes against an absent AP, so an AP outage during a rollout rolls a
+      good image back. That is the safe direction: re-push it later.
+
+config OTA_HEALTH_MIN_UPTIME_S
+    int "Minimum uptime before an OTA'd image may be confirmed"
+    depends on BOOTLOADER_APP_ROLLBACK_ENABLE
+    range 0 600
+    default 30
+    help
+      Holds confirmation back for this long after boot even once both signals
+      are in, so an image that crashes shortly after starting its pipelines
+      still reverts (a crash while PENDING_VERIFY is a rollback). Clamped to
+      OTA_HEALTH_TIMEOUT_S.
+
+config OTA_HEALTH_FORCE_FAIL
+    bool "TEST ONLY: fail the OTA health check to exercise rollback"
+    depends on BOOTLOADER_APP_ROLLBACK_ENABLE
+    default n
+    help
+      Builds an image that rolls itself back at the point it would otherwise
+      confirm. OTA-push it to a node to prove rollback works end to end: the
+      node should reboot into the previous image. Has no effect when USB
+      flashed (such an image is not PENDING_VERIFY). Never ship this.
+
+endmenu
+
 config CSI_GATE_MESH_ALIGNED
    bool "Align the CSI rate gate to mesh time (enables cross-node pairing)"
    default y
@@ -750,6 +750,11 @@ uint16_t csi_collector_get_send_fail_count(void)
    return (f > 0xFFFFu) ? 0xFFFFu : (uint16_t)f;
 }

+uint32_t csi_collector_get_send_ok_count(void)
+{
+    return s_send_ok;
+}
+
 /* The gate here is fixed at compile time (mesh-aligned bucketing, falling
 * back to elapsed time when unsynced), so there is no mode or period to
 * report. Return the explicit sentinel rather than a number that reads as
@@ -139,6 +139,18 @@ uint16_t csi_collector_get_pkt_yield_per_sec(void);
 */
 uint16_t csi_collector_get_send_fail_count(void);

+/**
+ * Get the cumulative count of CSI frames the stream sender accepted since boot.
+ *
+ * Nonzero means the whole capture path worked at least once: the driver
+ * delivered a CSI callback, the frame serialized, and sendto() accepted it.
+ * Used by the OTA health check (ota_health.c) as its "operational" signal.
+ *
+ * @return Number of successful stream_sender_send() calls from the CSI
+ *         callback path.
+ */
+uint32_t csi_collector_get_send_ok_count(void);
+
 /** Reported by the gate accessors when this build has no selectable gate. */
 #define CSI_GATE_NOT_CONFIGURABLE 0xFF

@@ -10,4 +10,5 @@ dependencies:
  espressif/esp_lcd_touch: "^1.0"

  ## Onboard WS2812 LED Disabling
-  espressif/led_strip: "^3.0.0"
+  # 3.1.0 needs the IDF >= 5.5 API rmt_tx_switch_gpio; stay on 3.0.x for IDF 5.4
+  espressif/led_strip: "~3.0.3"
@@ -28,6 +28,7 @@
 #include "serial_onboarding.h"
 #include "edge_processing.h"
 #include "ota_update.h"
+#include "ota_health.h"
 #include "power_mgmt.h"
 #include "wasm_runtime.h"
 #include "wasm_upload.h"
@@ -142,6 +143,7 @@ static void event_handler(void *arg, esp_event_base_t event_base,
        ip_event_got_ip_t *event = (ip_event_got_ip_t *)event_data;
        ESP_LOGI(TAG, "Got IP: " IPSTR, IP2STR(&event->ip_info.ip));
        s_retry_num = 0;
+        ota_health_note_got_ip();
        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
    }
 }
@@ -338,6 +340,11 @@ void app_main(void)
    ESP_LOGI(TAG, "%s CSI Node (ADR-018 / ADR-110) — v%s — Node ID: %d",
             target_name, app_desc->version, g_nvs_config.node_id);

+    /* ADR-379: an OTA'd image boots PENDING_VERIFY and reverts at the next
+     * reset unless it confirms itself. Start the clock before anything that
+     * can block (WiFi waits up to ~2 min for an AP), so the deadline is real. */
+    ota_health_start();
+
    /* Apply the opt-in XIAO RF path before WiFi starts. Generic C6 boards keep
     * ownership of GPIO3 and GPIO14 because the default implementation is a
     * no-op unless CONFIG_C6_XIAO_ANTENNA_SELECT is enabled. */
@@ -0,0 +1,39 @@
+#ifndef RUVIEW_ONBOARDING_IDENTITY_H
+#define RUVIEW_ONBOARDING_IDENTITY_H
+
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "esp_mac.h"
+#include "psa/crypto.h"
+
+/* Shared with the host regression test; hashing remains the IDF PSA API.
+ * esp_efuse_mac_get_default writes an eight-byte EUI-64 on C6/H2. The base
+ * MAC API always returns the six-byte identity required by ADR-363. */
+static inline void ruview_onboarding_device_digest(char output[17])
+{
+    uint8_t base_mac[6] = {0};
+    uint8_t digest[32] = {0};
+    static const uint8_t domain[] = "ruview-device-v1";
+    uint8_t digest_input[sizeof(domain) - 1 + sizeof(base_mac)];
+    size_t digest_length = 0;
+    memcpy(digest_input, domain, sizeof(domain) - 1);
+    const esp_err_t mac_result = esp_base_mac_addr_get(base_mac);
+    if (mac_result == ESP_OK) {
+        memcpy(digest_input + sizeof(domain) - 1, base_mac, sizeof(base_mac));
+    }
+    if (mac_result == ESP_OK &&
+        psa_crypto_init() == PSA_SUCCESS &&
+        psa_hash_compute(PSA_ALG_SHA_256, digest_input, sizeof(digest_input),
+                         digest, sizeof(digest), &digest_length) == PSA_SUCCESS &&
+        digest_length == sizeof(digest)) {
+        for (size_t index = 0; index < 8; index++) {
+            snprintf(output + index * 2, 3, "%02x", digest[index]);
+        }
+    } else {
+        memcpy(output, "0000000000000000", 17);
+    }
+}
+
+#endif
@@ -0,0 +1,139 @@
+/* First-boot health check for an OTA-delivered image. See ota_health.h and
+ * ADR-379 for why it exists; the decision itself is ota_health_step(). */
+#include "ota_health.h"
+
+#include "sdkconfig.h"
+
+#ifdef CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_ota_ops.h"
+#include "esp_timer.h"
+
+#include "csi_collector.h"
+
+static const char *TAG = "ota_health";
+
+#define OTA_HEALTH_POLL_MS 1000
+
+/* Written from the event loop task, read from the health task. A single
+ * aligned bool is enough; it only ever goes false -> true. */
+static volatile bool s_got_ip;
+
+static const char *state_name(esp_ota_img_states_t st)
+{
+    switch (st) {
+    case ESP_OTA_IMG_NEW:            return "NEW";
+    case ESP_OTA_IMG_PENDING_VERIFY: return "PENDING_VERIFY";
+    case ESP_OTA_IMG_VALID:          return "VALID";
+    case ESP_OTA_IMG_INVALID:        return "INVALID";
+    case ESP_OTA_IMG_ABORTED:        return "ABORTED";
+    case ESP_OTA_IMG_UNDEFINED:      return "UNDEFINED";
+    }
+    return "?";
+}
+
+static void ota_health_task(void *arg)
+{
+    (void)arg;
+    const ota_health_cfg_t cfg = {
+        .timeout_ms    = (uint32_t)CONFIG_OTA_HEALTH_TIMEOUT_S * 1000u,
+        .min_uptime_ms = (uint32_t)CONFIG_OTA_HEALTH_MIN_UPTIME_S * 1000u,
+#ifdef CONFIG_OTA_HEALTH_FORCE_FAIL
+        .force_fail    = true,
+#else
+        .force_fail    = false,
+#endif
+    };
+    ota_health_sm_t sm;
+    ota_health_sm_init(&sm);
+
+    for (;;) {
+        uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000);
+        ota_health_verdict_t v = ota_health_step(&sm, &cfg, s_got_ip,
+                                                 csi_collector_get_send_ok_count() > 0,
+                                                 now_ms);
+        if (v == OTA_HEALTH_MARK_VALID) {
+            esp_err_t err = esp_ota_mark_app_valid_cancel_rollback();
+            if (err == ESP_OK) {
+                ESP_LOGI(TAG, "marked valid after %s in %lu ms",
+                         sm.reason, (unsigned long)now_ms);
+            } else {
+                ESP_LOGE(TAG, "mark valid failed: %s (image stays PENDING_VERIFY "
+                              "and reverts on the next reset)", esp_err_to_name(err));
+            }
+            break;
+        }
+        if (v == OTA_HEALTH_ROLLBACK) {
+            ESP_LOGE(TAG, "health check failed: %s, rolling back (%lu ms)",
+                     sm.reason, (unsigned long)now_ms);
+            /* Returns only on failure: no other bootable slot. Rebooting then
+             * would just loop, so stay up; the next reset aborts this image. */
+            esp_err_t err = esp_ota_mark_app_invalid_rollback_and_reboot();
+            ESP_LOGE(TAG, "rollback not possible: %s -- staying on this image",
+                     esp_err_to_name(err));
+            break;
+        }
+        vTaskDelay(pdMS_TO_TICKS(OTA_HEALTH_POLL_MS));
+    }
+    vTaskDelete(NULL);
+}
+
+void ota_health_start(void)
+{
+    const esp_partition_t *running = esp_ota_get_running_partition();
+    esp_ota_img_states_t st;
+    esp_err_t err = esp_ota_get_state_partition(running, &st);
+
+    /* ESP_ERR_NOT_SUPPORTED: running from factory. ESP_ERR_NOT_FOUND: no
+     * otadata entry for this slot (erased otadata). Neither can be rolled
+     * back, so there is nothing to confirm. */
+    if (err != ESP_OK) {
+        ESP_LOGI(TAG, "running %s has no OTA state (%s): no health check",
+                 running ? running->label : "?", esp_err_to_name(err));
+        return;
+    }
+
+    /* VALID: USB-flashed with ota_data_initial (the bootloader writes VALID)
+     * or already confirmed. UNDEFINED: selected by a build without rollback;
+     * the bootloader boots it unconditionally. NEW: the bootloader has no
+     * rollback support, so it never promoted the image to PENDING_VERIFY.
+     * None of these revert on reset. */
+    if (st != ESP_OTA_IMG_PENDING_VERIFY) {
+        ESP_LOGI(TAG, "running %s state %s: no health check",
+                 running->label, state_name(st));
+        return;
+    }
+
+    ESP_LOGW(TAG, "OTA image pending verify on %s: need IP + CSI frame within %d s "
+                  "(min uptime %d s)%s",
+             running->label, CONFIG_OTA_HEALTH_TIMEOUT_S,
+             CONFIG_OTA_HEALTH_MIN_UPTIME_S,
+#ifdef CONFIG_OTA_HEALTH_FORCE_FAIL
+             " -- FORCE_FAIL test build, will roll back"
+#else
+             ""
+#endif
+             );
+
+    if (xTaskCreate(ota_health_task, "ota_health", 4096, NULL, 2, NULL) != pdPASS) {
+        /* Without the task nothing confirms the image, which is the same as
+         * failing the check: the next reset reverts it. Say so. */
+        ESP_LOGE(TAG, "health task create failed; image will revert on next reset");
+    }
+}
+
+void ota_health_note_got_ip(void)
+{
+    s_got_ip = true;
+}
+
+#else /* !CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE */
+
+/* Without bootloader rollback no image is ever PENDING_VERIFY. */
+void ota_health_start(void) {}
+void ota_health_note_got_ip(void) {}
+
+#endif /* CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE */
@@ -0,0 +1,110 @@
+/* First-boot health check for an OTA-delivered image (ADR-379).
+ *
+ * With CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE the bootloader starts a freshly
+ * OTA'd image in ESP_OTA_IMG_PENDING_VERIFY. Until the app confirms itself,
+ * the next reset reverts to the previous slot and esp_ota_begin() refuses a
+ * second OTA. Nothing confirmed it before this module existed, so every OTA
+ * on a rollback-enabled node was undone by the next power cycle.
+ *
+ * The decision logic is a pure function kept in this header, like
+ * thermal_next_state(), so the host test exercises the exact code the device
+ * runs. ota_health.c only feeds it events and a clock and acts on the verdict. */
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef enum {
+    OTA_HEALTH_WAIT = 0,     /* keep checking */
+    OTA_HEALTH_MARK_VALID,   /* confirm the image: esp_ota_mark_app_valid_cancel_rollback() */
+    OTA_HEALTH_ROLLBACK,     /* esp_ota_mark_app_invalid_rollback_and_reboot() */
+} ota_health_verdict_t;
+
+typedef struct {
+    uint32_t timeout_ms;     /* deadline, measured from boot */
+    uint32_t min_uptime_ms;  /* earliest the image may be confirmed; clamped to timeout_ms */
+    bool     force_fail;     /* test hook: roll back where it would have confirmed */
+} ota_health_cfg_t;
+
+typedef struct {
+    bool got_ip;             /* STA associated and holds an IPv4 address (latched) */
+    bool csi_delivered;      /* stream sender accepted >= 1 CSI frame (latched) */
+    ota_health_verdict_t verdict;
+    const char *reason;      /* set once verdict leaves WAIT; static string */
+} ota_health_sm_t;
+
+static inline void ota_health_sm_init(ota_health_sm_t *sm)
+{
+    sm->got_ip        = false;
+    sm->csi_delivered = false;
+    sm->verdict       = OTA_HEALTH_WAIT;
+    sm->reason        = "waiting";
+}
+
+/**
+ * Advance the health check.
+ *
+ * Pure: no globals, no hardware. Both signals latch, because each proves a
+ * capability the image has, and a later AP outage is not evidence against the
+ * image. Once the verdict leaves WAIT it is terminal: later calls return it
+ * unchanged, so a caller that polls after acting cannot act twice.
+ *
+ * @param sm             State, initialised with ota_health_sm_init().
+ * @param cfg            Timeout, minimum uptime, force-fail hook.
+ * @param got_ip         Event seen since the last step: STA got an IP.
+ * @param csi_delivered  Event seen since the last step: a CSI frame was sent.
+ * @param now_ms         Milliseconds since boot.
+ * @return The verdict. sm->reason names why, for the log.
+ */
+static inline ota_health_verdict_t ota_health_step(ota_health_sm_t *sm,
+                                                   const ota_health_cfg_t *cfg,
+                                                   bool got_ip,
+                                                   bool csi_delivered,
+                                                   uint32_t now_ms)
+{
+    if (sm->verdict != OTA_HEALTH_WAIT) {
+        return sm->verdict;
+    }
+
+    sm->got_ip        = sm->got_ip || got_ip;
+    sm->csi_delivered = sm->csi_delivered || csi_delivered;
+
+    /* A minimum uptime above the timeout could never be satisfied; that would
+     * turn every OTA into a rollback. Clamp rather than trust the config. */
+    uint32_t min_up = cfg->min_uptime_ms < cfg->timeout_ms
+                    ? cfg->min_uptime_ms : cfg->timeout_ms;
+
+    if (sm->got_ip && sm->csi_delivered && now_ms >= min_up) {
+        if (cfg->force_fail) {
+            sm->verdict = OTA_HEALTH_ROLLBACK;
+            sm->reason  = "forced failure (CONFIG_OTA_HEALTH_FORCE_FAIL)";
+        } else {
+            sm->verdict = OTA_HEALTH_MARK_VALID;
+            sm->reason  = "Wi-Fi got IP and CSI frame delivered";
+        }
+        return sm->verdict;
+    }
+
+    if (now_ms >= cfg->timeout_ms) {
+        sm->verdict = OTA_HEALTH_ROLLBACK;
+        if (!sm->got_ip && !sm->csi_delivered) {
+            sm->reason = "timeout: no IP and no CSI frame delivered";
+        } else if (!sm->got_ip) {
+            sm->reason = "timeout: no IP";
+        } else {
+            sm->reason = "timeout: no CSI frame delivered";
+        }
+        return sm->verdict;
+    }
+
+    return OTA_HEALTH_WAIT;
+}
+
+/* Device side (ota_health.c). No-ops when the bootloader has no rollback. */
+
+/** Call once, early in app_main. Starts the check only if the running image
+ *  is ESP_OTA_IMG_PENDING_VERIFY; otherwise logs the state and returns. */
+void ota_health_start(void);
+
+/** Call from the IP_EVENT_STA_GOT_IP handler. Cheap; safe from any task. */
+void ota_health_note_got_ip(void);
@@ -17,6 +17,8 @@
 #include "esp_app_desc.h"
 #include "nvs_flash.h"
 #include "nvs.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"

 static const char *TAG = "ota_update";

@@ -38,7 +40,7 @@ static char s_ota_psk[OTA_PSK_MAX_LEN] = {0};
 * Returns true only when a PSK is provisioned AND the Bearer token
 * matches it. An unprovisioned node refuses all OTA requests
 * (fail-closed, see RuView#596 audit). The OTA server still starts so
- * the operator can `provision.py --ota-psk <hex>` over USB-CDC without
+ * the operator can `provision.py --ota-psk-file <path>` over USB without
 * a reflash, but the upload endpoint will reject every request until
 * the PSK is set.
 */
@@ -51,7 +53,7 @@ static bool ota_check_auth(httpd_req_t *req)
         * Plain HTTP transport + no Secure Boot V2 + no signed-image
         * verification meant a single LAN call could brick or back-
         * door a node. Reject until provisioned. */
-        ESP_LOGW(TAG, "OTA rejected: no PSK in NVS (run provision.py --ota-psk <hex>)");
+        ESP_LOGW(TAG, "OTA rejected: no PSK in NVS (run provision.py --ota-psk-file <path>)");
        return false;
    }

@@ -88,14 +90,26 @@ static esp_err_t ota_status_handler(httpd_req_t *req)
    const esp_partition_t *running = esp_ota_get_running_partition();
    const esp_partition_t *update = esp_ota_get_next_update_partition(NULL);

+    /* ADR-379: lets an operator confirm remotely that an OTA'd image left
+     * pending_verify (and so survives a power cycle) without a serial log. */
+    esp_ota_img_states_t st;
+    const char *ota_state = "none";
+    if (running && esp_ota_get_state_partition(running, &st) == ESP_OK) {
+        ota_state = st == ESP_OTA_IMG_VALID          ? "valid" :
+                    st == ESP_OTA_IMG_PENDING_VERIFY ? "pending_verify" :
+                    st == ESP_OTA_IMG_NEW            ? "new" :
+                    st == ESP_OTA_IMG_UNDEFINED      ? "undefined" : "other";
+    }
+
    char response[512];
    int len = snprintf(response, sizeof(response),
        "{\"version\":\"%s\",\"date\":\"%s\",\"time\":\"%s\","
        "\"running_partition\":\"%s\",\"next_partition\":\"%s\","
-        "\"max_size\":%lu}",
+        "\"ota_state\":\"%s\",\"max_size\":%lu}",
        app->version, app->date, app->time,
        running ? running->label : "unknown",
        update ? update->label : "none",
+        ota_state,
        (unsigned long)(update ? update->size : 0));

    httpd_resp_set_type(req, "application/json");
@@ -103,10 +117,28 @@ static esp_err_t ota_status_handler(httpd_req_t *req)
    return ESP_OK;
 }

+/* Receive chunk for POST /ota. Static, not on the httpd task stack: handlers
+ * run one at a time on the single httpd task, so one buffer is enough, and
+ * 1 KB was a quarter of the default 4 KB stack (ADR-379).
+ * NOT reentrant: this shared buffer is safe only because a single httpd task
+ * serves requests. Do not use it from another task or a multi-threaded
+ * httpd configuration. */
+static char s_ota_rx_buf[1024];
+
+void ota_update_log_httpd_stack(const char *what)
+{
+    /* ESP-IDF FreeRTOS counts stack in bytes. */
+    ESP_LOGI(TAG, "httpd stack after %s: %u of %d bytes never used",
+             what, (unsigned)uxTaskGetStackHighWaterMark(NULL),
+             CONFIG_OTA_HTTPD_STACK_SIZE);
+}
+
 /**
- * POST /ota — receive and flash firmware binary.
+ * POST /ota — receive and flash firmware binary. Returns ESP_OK only after the
+ * new slot is set as boot partition and the response is sent; the caller
+ * reboots.
 */
-static esp_err_t ota_upload_handler(httpd_req_t *req)
+static esp_err_t ota_upload_receive(httpd_req_t *req)
 {
    /* ADR-050: Authenticate before accepting firmware upload. */
    if (!ota_check_auth(req)) {
@@ -144,12 +176,12 @@ static esp_err_t ota_upload_handler(httpd_req_t *req)
    }

    /* Read firmware in chunks. */
-    char buf[1024];
+    char *buf = s_ota_rx_buf;
    int received = 0;
    int total = 0;

    while (total < req->content_len) {
-        received = httpd_req_recv(req, buf, sizeof(buf));
+        received = httpd_req_recv(req, buf, sizeof(s_ota_rx_buf));
        if (received <= 0) {
            if (received == HTTPD_SOCK_ERR_TIMEOUT) {
                continue;  /* Retry on timeout. */
@@ -173,9 +205,11 @@ static esp_err_t ota_upload_handler(httpd_req_t *req)

        total += received;
        if ((total % (64 * 1024)) == 0) {
-            ESP_LOGI(TAG, "OTA progress: %d / %d bytes (%.0f%%)",
+            /* Integer percent: %f pulls newlib's float formatter onto this
+             * task's stack for no benefit. */
+            ESP_LOGI(TAG, "OTA progress: %d / %d bytes (%d%%)",
                     total, req->content_len,
-                     (float)total * 100.0f / (float)req->content_len);
+                     (int)((int64_t)total * 100 / req->content_len));
        }
    }

@@ -201,12 +235,24 @@ static esp_err_t ota_upload_handler(httpd_req_t *req)
    const char *resp = "{\"status\":\"ok\",\"message\":\"OTA update successful. Rebooting...\"}";
    httpd_resp_set_type(req, "application/json");
    httpd_resp_send(req, resp, strlen(resp));
+    return ESP_OK;
+}

-    /* Delay briefly to let the response flush, then reboot. */
-    vTaskDelay(pdMS_TO_TICKS(1000));
-    esp_restart();
+static esp_err_t ota_upload_handler(httpd_req_t *req)
+{
+    esp_err_t ret = ota_upload_receive(req);

-    return ESP_OK;  /* Never reached. */
+    /* The deepest path this server runs is esp_ota_end() -> esp_image_verify().
+     * Log the headroom it left so the stack size is set from evidence, not
+     * guessed a second time. */
+    ota_update_log_httpd_stack("POST /ota");
+
+    if (ret == ESP_OK) {
+        /* Delay briefly to let the response flush, then reboot. */
+        vTaskDelay(pdMS_TO_TICKS(1000));
+        esp_restart();
+    }
+    return ret;
 }

 /** Internal: start the HTTP server and register OTA endpoints. */
@@ -214,6 +260,11 @@ static esp_err_t ota_start_server(httpd_handle_t *out_handle)
 {
    httpd_config_t config = HTTPD_DEFAULT_CONFIG();
    config.server_port = OTA_PORT;
+    /* HTTPD_DEFAULT_CONFIG gives 4096 B. MEASURED 2026-09-29 on an S3 (node 4,
+     * v0.8.12): POST /ota overflowed it every time ("stack overflow in task
+     * httpd", RTC_SW_CPU_RST), so no OTA had ever completed on this firmware.
+     * See CONFIG_OTA_HTTPD_STACK_SIZE for the sizing. */
+    config.stack_size = CONFIG_OTA_HTTPD_STACK_SIZE;
    config.max_uri_handlers = 12;  /* Extra slots for WASM endpoints (ADR-040). */
    /* Increase receive timeout for large uploads. */
    config.recv_wait_timeout = 30;
@@ -268,7 +319,7 @@ static void ota_load_psk_from_nvs(void)
            ESP_LOGI(TAG, "OTA PSK loaded from NVS (%d chars) — authentication enabled", (int)len - 1);
        } else {
            ESP_LOGW(TAG, "No OTA PSK in NVS — OTA upload endpoint will REJECT all requests until "
-                          "provisioned (provision.py --ota-psk <hex>). Fail-closed per RuView#596.");
+                          "provisioned (provision.py --ota-psk-file <path>). Fail-closed per RuView#596.");
        }
        nvs_close(nvs);
    } else {
@@ -30,4 +30,13 @@ esp_err_t ota_update_init(void);
 */
 esp_err_t ota_update_init_ex(void **out_server);

+/**
+ * Log the httpd task's stack high-water mark (bytes never used). Call from an
+ * HTTP handler on the OTA server after its deepest work, so the configured
+ * CONFIG_OTA_HTTPD_STACK_SIZE is backed by a measured margin.
+ *
+ * @param what  Short label for the handler, e.g. "POST /ota".
+ */
+void ota_update_log_httpd_stack(const char *what);
+
 #endif /* OTA_UPDATE_H */
@@ -1,6 +1,7 @@
 #include "serial_onboarding.h"

 #include "serial_onboarding_protocol.h"
+#include "onboarding_identity.h"

 #include <errno.h>
 #include <fcntl.h>
@@ -17,7 +18,6 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "nvs.h"
-#include "psa/crypto.h"

 static const char *TAG = "serial_onboard";
 static nvs_config_t s_current_config;
@@ -38,36 +38,11 @@ static const char *chip_name(void)
 #endif
 }

-static void device_digest(char output[17])
-{
-    uint8_t base_mac[6] = {0};
-    uint8_t digest[32] = {0};
-    static const uint8_t domain[] = "ruview-device-v1";
-    uint8_t digest_input[sizeof(domain) - 1 + sizeof(base_mac)];
-    size_t digest_length = 0;
-    memcpy(digest_input, domain, sizeof(domain) - 1);
-    const esp_err_t mac_result = esp_efuse_mac_get_default(base_mac);
-    if (mac_result == ESP_OK) {
-        memcpy(digest_input + sizeof(domain) - 1, base_mac, sizeof(base_mac));
-    }
-    if (mac_result == ESP_OK &&
-        psa_crypto_init() == PSA_SUCCESS &&
-        psa_hash_compute(PSA_ALG_SHA_256, digest_input, sizeof(digest_input),
-                         digest, sizeof(digest), &digest_length) == PSA_SUCCESS &&
-        digest_length == sizeof(digest)) {
-        for (size_t index = 0; index < 8; index++) {
-            snprintf(output + index * 2, 3, "%02x", digest[index]);
-        }
-    } else {
-        memcpy(output, "0000000000000000", 17);
-    }
-}
-
 static void emit_hello(const char *nonce)
 {
    const esp_app_desc_t *description = esp_app_get_description();
    char digest[17] = {0};
-    device_digest(digest);
+    ruview_onboarding_device_digest(digest);
    const bool configured = s_current_config.wifi_ssid[0] != '\0' &&
                            s_current_config.target_ip[0] != '\0';
    printf("RUVIEW_HELLO_OK_V1 nonce=%s chip=%s version=%s node_id=%u "
@@ -162,16 +137,9 @@ static void serial_onboarding_task(void *argument)
    (void)argument;
    const int original_flags = fcntl(STDIN_FILENO, F_GETFL, 0);
    if (original_flags >= 0) (void)fcntl(STDIN_FILENO, F_SETFL, original_flags | O_NONBLOCK);
-    /* ESP-IDF secondary consoles mirror output but deliberately do not forward
-     * input to STDIN. Native S3/C6 USB Serial/JTAG therefore needs a bounded
-     * direct VFS reader while UART-console boards continue to use STDIN. */
-    const int usb_fd = open("/dev/secondary", O_RDONLY | O_NONBLOCK);
    char primary_line[ONBOARDING_LINE_MAX];
-    char usb_line[ONBOARDING_LINE_MAX];
    size_t primary_length = 0;
-    size_t usb_length = 0;
    bool primary_overflow = false;
-    bool usb_overflow = false;
    for (;;) {
        uint8_t input[64];
        const ssize_t count = read(STDIN_FILENO, input, sizeof(input));
@@ -182,12 +150,6 @@ static void serial_onboarding_task(void *argument)
            ESP_LOGW(TAG, "serial input unavailable: errno=%d", errno);
            vTaskDelay(pdMS_TO_TICKS(500));
        }
-        if (usb_fd >= 0) {
-            const ssize_t usb_count = read(usb_fd, input, sizeof(input));
-            if (usb_count > 0) {
-                consume_bytes(input, usb_count, usb_line, &usb_length, &usb_overflow);
-            }
-        }
        vTaskDelay(pdMS_TO_TICKS(20));
    }
 }
@@ -24,7 +24,9 @@
 #include "wasm_runtime.h"
 #include "rvf_parser.h"
 #include "nvs_config.h"
+#include "ota_update.h"

+#include <stdlib.h>
 #include <string.h>
 #include <stdio.h>
 #include "esp_log.h"
@@ -82,7 +84,7 @@ static uint8_t *receive_body(httpd_req_t *req, int *out_len)
 * POST /wasm/upload — Upload RVF or raw .wasm
 * ====================================================================== */

-static esp_err_t wasm_upload_handler(httpd_req_t *req)
+static esp_err_t wasm_upload_process(httpd_req_t *req)
 {
    int total = 0;
    uint8_t *buf = receive_body(req, &total);
@@ -215,6 +217,15 @@ static esp_err_t wasm_upload_handler(httpd_req_t *req)
    (void)format;
 }

+/* Signature check and wasm3 module load run on the shared httpd task; log
+ * the headroom they left (ADR-379, CONFIG_OTA_HTTPD_STACK_SIZE). */
+static esp_err_t wasm_upload_handler(httpd_req_t *req)
+{
+    esp_err_t ret = wasm_upload_process(req);
+    ota_update_log_httpd_stack("POST /wasm/upload");
+    return ret;
+}
+
 /* ======================================================================
 * GET /wasm/list — List module slots
 * ====================================================================== */
@@ -237,18 +248,24 @@ static esp_err_t wasm_list_handler(httpd_req_t *req)
    uint8_t count = 0;
    wasm_runtime_get_info(info, &count);

-    /* Build JSON array (larger buffer for manifest fields). */
-    char response[2048];
+    /* Build JSON array (larger buffer for manifest fields). Heap, not stack:
+     * 2 KB was half the httpd task's former 4 KB stack. */
+    const size_t resp_size = 2048;
+    char *response = malloc(resp_size);
+    if (response == NULL) {
+        httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "Out of memory");
+        return ESP_FAIL;
+    }
    int pos = 0;
-    pos += snprintf(response + pos, sizeof(response) - pos,
+    pos += snprintf(response + pos, resp_size - pos,
                    "{\"modules\":[");

    for (uint8_t i = 0; i < WASM_MAX_MODULES; i++) {
-        if (i > 0) pos += snprintf(response + pos, sizeof(response) - pos, ",");
+        if (i > 0) pos += snprintf(response + pos, resp_size - pos, ",");
        uint32_t mean_us = (info[i].frame_count > 0)
                           ? (info[i].total_us / info[i].frame_count) : 0;
        const char *name = info[i].module_name[0] ? info[i].module_name : "";
-        pos += snprintf(response + pos, sizeof(response) - pos,
+        pos += snprintf(response + pos, resp_size - pos,
                        "{\"id\":%u,\"state\":\"%s\",\"name\":\"%s\","
                        "\"binary_size\":%lu,\"caps\":\"0x%04lx\","
                        "\"frame_count\":%lu,\"event_count\":%lu,\"error_count\":%lu,"
@@ -266,11 +283,12 @@ static esp_err_t wasm_list_handler(httpd_req_t *req)
                        (unsigned long)info[i].budget_faults);
    }

-    pos += snprintf(response + pos, sizeof(response) - pos,
+    pos += snprintf(response + pos, resp_size - pos,
                    "],\"loaded\":%u,\"max\":%d}", count, WASM_MAX_MODULES);

    httpd_resp_set_type(req, "application/json");
    httpd_resp_send(req, response, pos);
+    free(response);
    return ESP_OK;
 }

@@ -11,7 +11,7 @@ Usage:
        --password "..." --target-ip 192.168.1.20

 Requirements:
-    pip install 'esptool>=5.0' nvs-partition-gen
+    pip install 'esptool>=5.0' esp-idf-nvs-partition-gen
    (or use the nvs_partition_gen.py bundled with ESP-IDF)

 ADDITIVE-BY-DEFAULT (issue #391, #574 phase 1):
@@ -28,6 +28,11 @@ ADDITIVE-BY-DEFAULT (issue #391, #574 phase 1):
        3. Generate + flash NVS from the merged state.
        4. Write the merged state back to the state file.

+    State is keyed by the board's MAC, read with esptool, so a board plugged
+    into a port another board used doesn't inherit its node_id (#1755).
+    Port-keyed files from earlier versions move to the board's record the
+    first time that board is provisioned.
+
    Net effect: partial reconfigure works the way users expect. Pass `--reset`
    to wipe both the state file AND the device NVS for first-time provisioning
    of a recycled board.
@@ -41,9 +46,12 @@ ADDITIVE-BY-DEFAULT (issue #391, #574 phase 1):

 import argparse
 import csv
+import getpass
 import io
 import json
 import os
+import stat
+import re
 import struct
 import subprocess
 import sys
@@ -60,6 +68,8 @@ NVS_PARTITION_SIZE = 0x6000  # 24 KiB
 CONFIG_VALUE_CHECKS = [
    ("ssid", bool),
    ("password", lambda value: value is not None),
+    ("ota_psk", lambda value: value is not None),
+    ("clear_ota_psk", bool),
    ("target_ip", bool),
    ("target_port", lambda value: value is not None),
    ("node_id", lambda value: value is not None),
@@ -110,6 +120,9 @@ MERGEABLE_ATTRS = [
    "seed_url", "seed_token", "zone", "swarm_hb", "swarm_ingest",
 ]

+# Cache only whether this tool armed OTA, never the firmware-upload credential.
+OTA_PSK_STATE_KEY = "_ota_psk_configured"
+

 def _default_state_dir() -> str:
    """Per-user config dir for provision-state JSON files."""
@@ -129,6 +142,166 @@ def _state_path_for(port: str, state_dir: str) -> str:
    return os.path.join(state_dir, f"{safe}.json")


+# State files hold the WiFi password and seed token in cleartext (#1754), so the
+# directory is owner-only and every file in it is 0600.
+STATE_DIR_MODE = 0o700
+STATE_FILE_MODE = 0o600
+
+# Values `--state` hides unless `--show-secrets` is passed (#1754).
+SECRET_ATTRS = ("password", "seed_token")
+
+
+def _restrict_mode(path: str, mode: int) -> None:
+    """chmod `path` to `mode` if it is a real file or dir owned by this user.
+
+    Never raises: a read-only or unusual filesystem must not block provisioning,
+    but a secret left readable by others is reported. Symlinks are not followed,
+    so a planted link can't redirect the chmod.
+    """
+    try:
+        st = os.lstat(path)
+    except FileNotFoundError:
+        return
+    except OSError as exc:
+        print(f"WARNING: could not stat {path}: {exc}", file=sys.stderr)
+        return
+    if stat.S_ISLNK(st.st_mode):
+        print(f"WARNING: not changing permissions through symlink {path}", file=sys.stderr)
+        return
+    if hasattr(os, "getuid") and st.st_uid != os.getuid():
+        print(f"WARNING: {path} is not owned by you; permissions left unchanged",
+              file=sys.stderr)
+        return
+    if stat.S_IMODE(st.st_mode) == mode:
+        return
+    try:
+        os.chmod(path, mode)
+    except OSError as exc:
+        print(f"WARNING: could not set {oct(mode)} on {path}: {exc}", file=sys.stderr)
+
+
+def harden_state_dir(state_dir: str) -> None:
+    """Make the state dir 0700 and its state/temp files 0600.
+
+    Covers files written by earlier versions of this script, which used the
+    default umask (0755 dir, 0644 files). POSIX only: chmod can't set
+    owner-only ACLs on Windows.
+    """
+    if sys.platform == "win32" or not os.path.isdir(state_dir):
+        return
+    _restrict_mode(state_dir, STATE_DIR_MODE)
+    try:
+        names = os.listdir(state_dir)
+    except OSError:
+        return
+    for name in names:
+        if name.endswith((".json", ".tmp")):
+            _restrict_mode(os.path.join(state_dir, name), STATE_FILE_MODE)
+
+
+def _write_private(path: str, data: bytes) -> None:
+    """Write a credential-bearing file (state, NVS CSV or binary) as 0600."""
+    flags = (os.O_WRONLY | os.O_CREAT | os.O_TRUNC
+             | getattr(os, "O_NOFOLLOW", 0) | getattr(os, "O_BINARY", 0))
+    try:
+        fd = os.open(path, flags, STATE_FILE_MODE)
+    except OSError as exc:
+        # O_NOFOLLOW makes a pre-existing symlink fail here (ELOOP).
+        if os.path.islink(path):
+            raise SystemExit(
+                f"ERROR: refusing to write credentials through a symlink: {path}. "
+                f"Remove it and rerun.") from exc
+        raise
+    with os.fdopen(fd, "wb") as f:
+        # O_CREAT ignores the mode when the file already exists.
+        if hasattr(os, "fchmod"):
+            os.fchmod(f.fileno(), STATE_FILE_MODE)
+        f.write(data)
+
+
+def redact_secrets(state: dict) -> dict:
+    """Copy of `state` with secret values replaced by a fixed marker."""
+    shown = dict(state)
+    for name in SECRET_ATTRS:
+        if shown.get(name) is not None:
+            shown[name] = "(set)" if shown[name] else "(empty)"
+    return shown
+
+
+def read_password_file(path: str, allow_insecure: bool = False) -> str:
+    """Read the WiFi password from `path`, dropping one trailing newline.
+
+    Keeps the password out of argv and shell history (#1754). Refuses a file
+    that group or others can read unless `allow_insecure` is set. Raises
+    ValueError with a message meant for the user.
+    """
+    try:
+        with open(path, "rb") as f:
+            mode = stat.S_IMODE(os.fstat(f.fileno()).st_mode)
+            data = f.read()
+    except FileNotFoundError:
+        raise ValueError(f"--password-file {path} does not exist") from None
+    except OSError as exc:
+        raise ValueError(f"could not read --password-file {path}: {exc}") from None
+    if sys.platform != "win32" and mode & 0o044:
+        if not allow_insecure:
+            raise ValueError(
+                f"--password-file {path} is readable by group or others "
+                f"(mode {oct(mode)}). Run 'chmod 600 {path}', or pass "
+                f"--allow-insecure-password-file."
+            )
+        print(f"WARNING: --password-file {path} is readable by group or others "
+              f"(mode {oct(mode)}).", file=sys.stderr)
+    try:
+        text = data.decode("utf-8")
+    except UnicodeDecodeError:
+        raise ValueError(f"--password-file {path} is not UTF-8 text") from None
+    if text.endswith("\r\n"):
+        text = text[:-2]
+    elif text.endswith("\n"):
+        text = text[:-1]
+    if not text:
+        raise ValueError(f"--password-file {path} is empty")
+    return text
+
+
+def validate_ota_psk(value: str) -> str:
+    """A 256-bit hex token matching the firmware's 65-byte NVS buffer."""
+    if not isinstance(value, str) or re.fullmatch(r"[0-9a-fA-F]{64}", value) is None:
+        raise ValueError("OTA PSK must contain exactly 64 hexadecimal characters")
+    return value
+
+
+def read_ota_psk_file(path: str) -> str:
+    """Read a bounded regular file; enforce POSIX privacy and refuse symlinks."""
+    try:
+        before = os.lstat(path)
+        if not stat.S_ISREG(before.st_mode):
+            raise ValueError("--ota-psk-file must be a regular file, not a symlink")
+        flags = os.O_RDONLY | getattr(os, "O_NOFOLLOW", 0) | getattr(os, "O_NONBLOCK", 0)
+        flags |= getattr(os, "O_BINARY", 0)
+        with os.fdopen(os.open(path, flags), "rb") as stream:
+            opened = os.fstat(stream.fileno())
+            if (not stat.S_ISREG(opened.st_mode)
+                    or (before.st_dev, before.st_ino) != (opened.st_dev, opened.st_ino)):
+                raise ValueError("--ota-psk-file changed while opening")
+            if sys.platform != "win32" and stat.S_IMODE(opened.st_mode) & 0o077:
+                raise ValueError("--ota-psk-file must be owner-only; run chmod 600 on it")
+            # 64 hex bytes plus an optional LF/CRLF; one extra byte detects overflow.
+            data = stream.read(67)
+    except OSError:
+        raise ValueError("could not open --ota-psk-file as a regular file") from None
+    try:
+        value = data.decode("ascii")
+    except UnicodeDecodeError:
+        raise ValueError("OTA PSK file must contain ASCII hexadecimal text") from None
+    if value.endswith("\r\n"):
+        value = value[:-2]
+    elif value.endswith("\n"):
+        value = value[:-1]
+    return validate_ota_psk(value)
+
+
 def load_state(port: str, state_dir: str) -> dict:
    """Return the merged-state dict for `port`, or `{}` if absent / unreadable."""
    path = _state_path_for(port, state_dir)
@@ -138,6 +311,11 @@ def load_state(port: str, state_dir: str) -> dict:
        with open(path, "r", encoding="utf-8") as f:
            data = json.load(f)
        if isinstance(data, dict):
+            if "ota_psk" in data:
+                # Some earlier external provisioners cached this credential.
+                # Drop it from inspection/merge without mutating a read-only
+                # request. The next successful state write scrubs the file.
+                data[OTA_PSK_STATE_KEY] = bool(data.pop("ota_psk"))
            return data
    except (OSError, json.JSONDecodeError) as exc:
        print(f"WARNING: could not read state file {path}: {exc}", file=sys.stderr)
@@ -145,15 +323,143 @@ def load_state(port: str, state_dir: str) -> dict:


 def save_state(port: str, state_dir: str, state: dict) -> str:
-    """Write `state` to the per-port file, creating dirs as needed. Returns path."""
-    os.makedirs(state_dir, exist_ok=True)
+    """Write `state` to the per-port file, creating dirs as needed. Returns path.
+
+    The file holds secrets, so it is written 0600 inside a 0700 dir (#1754).
+    """
+    state = dict(state)
+    if "ota_psk" in state:
+        state[OTA_PSK_STATE_KEY] = bool(state.pop("ota_psk"))
+    os.makedirs(state_dir, mode=STATE_DIR_MODE, exist_ok=True)
+    harden_state_dir(state_dir)
    path = _state_path_for(port, state_dir)
-    # Sort keys for deterministic on-disk content (easier to diff).
-    tmp = path + ".tmp"
-    with open(tmp, "w", encoding="utf-8") as f:
-        json.dump(state, f, indent=2, sort_keys=True)
-        f.write("\n")
-    os.replace(tmp, path)
+    # mkstemp picks a unique name and opens it O_EXCL with mode 0600, so a
+    # stale temp file or a planted symlink can't receive the secret.
+    fd, tmp = tempfile.mkstemp(
+        dir=state_dir, prefix=os.path.basename(path) + ".", suffix=".tmp"
+    )
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as f:
+            if hasattr(os, "fchmod"):
+                os.fchmod(f.fileno(), STATE_FILE_MODE)
+            # Sort keys for deterministic on-disk content (easier to diff).
+            json.dump(state, f, indent=2, sort_keys=True)
+            f.write("\n")
+        os.replace(tmp, path)
+    except BaseException:
+        try:
+            os.unlink(tmp)
+        except OSError:
+            pass
+        raise
+    return path
+
+
+# ---------------------------------------------------------------------------
+# Board identity (#1755)
+# ---------------------------------------------------------------------------
+#
+# Serial port names get reused when boards are swapped, so a port-keyed state
+# file hands one board's node_id to the next. State is keyed by the chip's
+# base MAC instead. Each record also stores the MAC and the port it was last
+# written from, so --state can find it without opening the port.
+
+STATE_MAC_KEY = "_chip_mac"
+STATE_PORT_KEY = "_port"
+
+_ESPTOOL_MAC_RE = re.compile(
+    r"^\s*(BASE MAC|MAC):\s*((?:[0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2})\s*$", re.MULTILINE
+)
+
+
+def normalize_mac(value: str):
+    """Return `value` as lowercase aa:bb:cc:dd:ee:ff, or None if it isn't a MAC."""
+    parts = re.split(r"[:-]", value.strip())
+    if len(parts) != 6 or not all(re.fullmatch(r"[0-9a-fA-F]{2}", p) for p in parts):
+        return None
+    return ":".join(p.lower() for p in parts)
+
+
+def parse_esptool_mac(output: str):
+    """Return the base MAC from `esptool read_mac` output, or None.
+
+    Most chips print one 6-byte "MAC:" line. EUI-64 chips (C5, C6, H2) print an
+    8-byte "MAC:" line, then "BASE MAC:" with the 6-byte address.
+    """
+    found = {label: mac.lower() for label, mac in _ESPTOOL_MAC_RE.findall(output)}
+    return found.get("BASE MAC") or found.get("MAC")
+
+
+def read_chip_mac(port: str, baud: int, chip: str):
+    """Read the connected board's base MAC with esptool. None if it can't."""
+    cmd = [
+        sys.executable, "-m", "esptool",
+        "--chip", chip,
+        "--port", port,
+        "--baud", str(baud),
+        "read_mac",
+    ]
+    try:
+        result = subprocess.run(cmd, capture_output=True, text=True, timeout=30)
+    except (OSError, subprocess.SubprocessError):
+        return None
+    if result.returncode != 0:
+        return None
+    return parse_esptool_mac(result.stdout)
+
+
+def mac_state_key(mac: str) -> str:
+    """State-file key for a board, e.g. mac-aabbccddeeff."""
+    return "mac-" + mac.replace(":", "")
+
+
+def boards_last_on_port(port: str, state_dir: str) -> list:
+    """MACs of boards whose state was last written from `port`, newest first."""
+    if not os.path.isdir(state_dir):
+        return []
+    found = []
+    for name in os.listdir(state_dir):
+        if not (name.startswith("mac-") and name.endswith(".json")):
+            continue
+        data = load_state(name[:-len(".json")], state_dir)
+        mac = data.get(STATE_MAC_KEY)
+        if data.get(STATE_PORT_KEY) == port and mac:
+            found.append((os.path.getmtime(os.path.join(state_dir, name)), mac))
+    return [mac for _, mac in sorted(found, reverse=True)]
+
+
+def load_board_state(port: str, mac, state_dir: str):
+    """Return (prior state, legacy path) for the board `mac` on `port`.
+
+    Without a MAC this is the old port-keyed lookup. With one, the board's own
+    record wins. If it has none but a port-keyed file from an earlier version
+    exists, that file is returned for migration along with its path.
+    """
+    if mac is None:
+        return load_state(port, state_dir), None
+    prior = load_state(mac_state_key(mac), state_dir)
+    if prior:
+        return prior, None
+    legacy = _state_path_for(port, state_dir)
+    if os.path.isfile(legacy):
+        return load_state(port, state_dir), legacy
+    return {}, None
+
+
+def save_board_state(port: str, mac, state_dir: str, state: dict, legacy=None) -> str:
+    """Persist `state` under the board's MAC (or the port if the MAC is unknown).
+
+    A migrated port-keyed file is removed afterwards, so no other board on that
+    port can pick it up.
+    """
+    if mac is None:
+        return save_state(port, state_dir, state)
+    state = dict(state)
+    state[STATE_MAC_KEY] = mac
+    state[STATE_PORT_KEY] = port
+    path = save_state(mac_state_key(mac), state_dir, state)
+    if legacy and os.path.isfile(legacy):
+        os.unlink(legacy)
    return path


@@ -165,6 +471,8 @@ def merge_state_into_args(args, prior: dict) -> dict:
    in place so downstream `build_nvs_csv` sees the merged values.
    """
    merged = dict(prior)
+    if "ota_psk" in merged:
+        merged[OTA_PSK_STATE_KEY] = bool(merged.pop("ota_psk"))
    for name in MERGEABLE_ATTRS:
        cli_val = getattr(args, name, None)
        if cli_val is not None:
@@ -175,7 +483,7 @@ def merge_state_into_args(args, prior: dict) -> dict:


 def build_nvs_csv(args):
-    """Build an NVS CSV string for the csi_cfg namespace."""
+    """Build csi_cfg and the optional security/ota_psk namespace."""
    buf = io.StringIO()
    writer = csv.writer(buf)
    writer.writerow(["key", "type", "encoding", "value"])
@@ -234,16 +542,20 @@ def build_nvs_csv(args):
        writer.writerow(["swarm_hb", "data", "u16", str(args.swarm_hb)])
    if args.swarm_ingest is not None:
        writer.writerow(["swarm_ingest", "data", "u16", str(args.swarm_ingest)])
+    if getattr(args, "ota_psk", None) is not None:
+        writer.writerow(["security", "namespace", "", ""])
+        writer.writerow(["ota_psk", "data", "string", validate_ota_psk(args.ota_psk)])
    return buf.getvalue()


 def generate_nvs_binary(csv_content, size):
    """Generate an NVS partition binary from CSV using nvs_partition_gen.py."""
-    with tempfile.NamedTemporaryFile(mode="w", suffix=".csv", delete=False) as f_csv:
-        f_csv.write(csv_content)
-        csv_path = f_csv.name
-
-    bin_path = csv_path.replace(".csv", ".bin")
+    # Both files carry the WiFi password. A private 0700 dir keeps the
+    # generator's output (written with the default umask) away from other users.
+    work_dir = tempfile.mkdtemp(prefix="provision-nvs-")
+    csv_path = os.path.join(work_dir, "nvs.csv")
+    bin_path = os.path.join(work_dir, "nvs.bin")
+    _write_private(csv_path, csv_content.encode("utf-8"))

    try:
        # Method 1: subprocess invocation (most reliable across package versions)
@@ -269,7 +581,7 @@ def generate_nvs_binary(csv_content, size):
            subprocess.check_call([  # nosemgrep: dangerous-subprocess-use-tainted-env-args
                sys.executable, gen_script, "generate",
                csv_path, bin_path, hex(size)
-            ])
+            ], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
            with open(bin_path, "rb") as f:
                return f.read()

@@ -282,6 +594,10 @@ def generate_nvs_binary(csv_content, size):
        for p in (csv_path, bin_path):
            if os.path.isfile(p):
                os.unlink(p)
+        try:
+            os.rmdir(work_dir)
+        except OSError:
+            pass


 def flash_nvs(port, baud, nvs_bin, chip):
@@ -324,7 +640,26 @@ def main():
    )
    parser.add_argument("--baud", type=int, default=460800, help="Flash baud rate (default: 460800)")
    parser.add_argument("--ssid", help="WiFi SSID")
-    parser.add_argument("--password", help="WiFi password")
+    password_source = parser.add_mutually_exclusive_group()
+    password_source.add_argument("--password",
+                                 help="WiFi password. Visible in ps and shell history; "
+                                 "prefer --password-file.")
+    password_source.add_argument("--password-file", metavar="PATH",
+                                 help="Read the WiFi password from PATH (one trailing newline "
+                                 "is dropped). The file must not be readable by group or others.")
+    parser.add_argument("--allow-insecure-password-file", action="store_true",
+                        help="Accept a --password-file that group or others can read, with a "
+                        "warning (e.g. a read-only 0444 secrets mount).")
+    ota_source = parser.add_mutually_exclusive_group()
+    ota_source.add_argument("--ota-psk", metavar="HEX",
+                            help="OTA key: exactly 64 hex characters. Visible in process "
+                            "arguments/history; prefer --ota-psk-file. Never cached in state.")
+    ota_source.add_argument("--ota-psk-file", metavar="PATH",
+                            help="Read the 64-hex OTA key from a regular file. Requires "
+                            "owner-only POSIX permissions; protect Windows files with ACLs.")
+    ota_source.add_argument("--clear-ota-psk", action="store_true",
+                            help="Explicitly remove the OTA key during this NVS rewrite; "
+                            "firmware updates will be refused until a key is provisioned.")
    parser.add_argument("--target-ip", help="Aggregator host IP (e.g. 192.168.1.20)")
    parser.add_argument("--target-port", type=int, help="Aggregator UDP port (default: 5005)")
    parser.add_argument("--node-id", type=int, help="Node ID 0-255 (default: 1)")
@@ -360,32 +695,124 @@ def main():
                        "error when no prior state file exists. The script now merges "
                        "with prior state by default, so this flag is rarely needed.")
    parser.add_argument("--reset", action="store_true",
-                        help="Wipe this machine's per-port state file before merging. "
+                        help="Ignore this machine's per-port state file when merging; it is "
+                        "replaced after a successful flash. "
                        "Use for first-time provisioning of a recycled board where "
                        "previously-staged keys should NOT be re-applied.")
    parser.add_argument("--state-dir", default=_default_state_dir(),
                        help="Override the per-user state directory (default: per-OS user config dir).")
+    parser.add_argument("--mac", type=str,
+                        help="Board MAC (AA:BB:CC:DD:EE:FF) whose state to use. Normally read "
+                        "from the chip with esptool; --state and --dry-run never open the "
+                        "port, so pass it there to pick a board.")
    parser.add_argument("--state", action="store_true",
                        help="Print the merged state that WOULD be flashed for this port and exit. "
-                        "Useful for debugging which keys are about to land on the device.")
+                        "Useful for debugging which keys are about to land on the device. "
+                        "The WiFi password and seed token are shown as (set)/(empty).")
+    parser.add_argument("--show-secrets", action="store_true",
+                        help="With --state, print the WiFi password and seed token in clear.")

    args = parser.parse_args()

+    # State written by older versions may be 0644. Tighten it before any read
+    # or early exit (#1754).
+    harden_state_dir(args.state_dir)
+
+    try:
+        if args.ota_psk_file is not None:
+            args.ota_psk = read_ota_psk_file(args.ota_psk_file)
+        elif args.ota_psk is not None:
+            args.ota_psk = validate_ota_psk(args.ota_psk)
+            print("WARNING: --ota-psk is visible in process arguments and shell history; "
+                  "use --ota-psk-file instead.", file=sys.stderr)
+    except ValueError as exc:
+        parser.error(str(exc))
+
+    if args.password_file is not None:
+        try:
+            args.password = read_password_file(
+                args.password_file, args.allow_insecure_password_file)
+        except ValueError as exc:
+            parser.error(str(exc))
+    elif args.password is not None:
+        print("WARNING: --password is visible in ps and shell history; "
+              "use --password-file instead.", file=sys.stderr)
+    cli_ssid, cli_password = args.ssid, args.password
+    # --- Board identity (#1755) ---
+    # State is keyed by the chip's MAC so a board swapped onto a reused port
+    # doesn't inherit the previous board's node_id.
+    if args.mac is not None:
+        chip_mac = normalize_mac(args.mac)
+        if chip_mac is None:
+            parser.error(f"--mac must be in AA:BB:CC:DD:EE:FF format, got '{args.mac}'")
+    elif args.state:
+        # Inspection only: don't open the port; show the board last
+        # provisioned from it.
+        recent = boards_last_on_port(args.port, args.state_dir)
+        chip_mac = recent[0] if recent else None
+        if chip_mac:
+            print(f"Showing board {chip_mac}, last provisioned on {args.port}. "
+                  f"Pass --mac to pick another.", file=sys.stderr)
+    elif args.dry_run:
+        # No board involved; keep the port-keyed state as before.
+        chip_mac = None
+    else:
+        chip_mac = read_chip_mac(args.port, args.baud, args.chip)
+        if chip_mac:
+            print(f"Board MAC: {chip_mac}")
+        else:
+            print(f"WARNING: could not read the board's MAC with esptool, so state "
+                  f"stays keyed by port {args.port}. Pass --mac to key it by board.",
+                  file=sys.stderr)
+    legacy = None
+
    # --- Per-port state load + merge (additive-by-default, #391 / #574) ---
    if args.reset:
+        # Don't delete the state file here: validation below can still fail,
+        # and a failed run must not lose the record. A successful flash
+        # overwrites it with the reset (CLI-only) state.
        path = _state_path_for(args.port, args.state_dir)
        if os.path.isfile(path):
-            os.unlink(path)
-            print(f"--reset: removed state file {path}", file=sys.stderr)
+            print(f"--reset: ignoring state file {path}", file=sys.stderr)
        prior = {}
    else:
-        prior = load_state(args.port, args.state_dir)
+        prior, legacy = load_board_state(args.port, chip_mac, args.state_dir)
+        if legacy:
+            print(f"Using port-keyed state {legacy} for board {chip_mac}; it moves to "
+                  f"the board's own record when state is next saved. If this isn't the "
+                  f"board last provisioned on {args.port}, rerun with --reset.",
+                  file=sys.stderr)
    merged = merge_state_into_args(args, prior)
+    if args.ota_psk is not None:
+        merged[OTA_PSK_STATE_KEY] = True
+    elif args.clear_ota_psk:
+        merged[OTA_PSK_STATE_KEY] = False
+
+    # A new --ssid with no password given: ask for it on a terminal instead of
+    # requiring it on the command line. The saved password is reused only when
+    # it belongs to the same SSID. Without a terminal (scripts, CI) nothing is
+    # asked and the WiFi-credential check below applies as before.
+    if (not args.state and cli_ssid is not None and cli_password is None
+            and (prior.get("password") is None or prior.get("ssid") != cli_ssid)
+            and sys.stdin.isatty()):
+        args.password = getpass.getpass(f"WiFi password for {cli_ssid}: ")
+        merged["password"] = args.password

    if args.state:
-        print(json.dumps(merged, indent=2, sort_keys=True))
+        shown = merged if args.show_secrets else redact_secrets(merged)
+        print(json.dumps(shown, indent=2, sort_keys=True))
+        if shown != merged:
+            print("Secrets hidden; pass --show-secrets to print them.", file=sys.stderr)
        return

+    if args.ota_psk is None:
+        if merged.get(OTA_PSK_STATE_KEY) and not args.clear_ota_psk:
+            parser.error("OTA was previously configured. Resupply --ota-psk-file (keys "
+                         "are not cached), or pass --clear-ota-psk to disable OTA.")
+        print("WARNING: this rewrites the whole NVS partition without an OTA key. "
+              "OTA uploads will be disabled; supply --ota-psk-file to keep them enabled.",
+              file=sys.stderr)
+
    if not has_config_value(args):
        parser.error(
            "At least one config value must be specified (after merging prior state). "
@@ -403,11 +830,12 @@ def main():
        ] if val is None or val == ""
    ]
    if wifi_trio_missing and not args.force_partial:
+        state_key = mac_state_key(chip_mac) if chip_mac else args.port
        parser.error(
            f"Missing required WiFi credentials after merging prior state: "
            f"{', '.join(wifi_trio_missing)}.\n"
            f"\n"
-            f"  No per-port state file at {_state_path_for(args.port, args.state_dir)}\n"
+            f"  No saved state at {_state_path_for(state_key, args.state_dir)}\n"
            f"  and the CLI didn't include them. Either pass --ssid + --password + --target-ip\n"
            f"  on this run, or add --force-partial to flash without WiFi.\n"
        )
@@ -484,11 +912,11 @@ def main():
    try:
        nvs_bin = generate_nvs_binary(csv_content, NVS_PARTITION_SIZE)
    except Exception as e:
-        print(f"\nError generating NVS binary: {e}", file=sys.stderr)
+        detail = str(e).replace(args.ota_psk, "(redacted)") if args.ota_psk else str(e)
+        print(f"\nError generating NVS binary: {detail}", file=sys.stderr)
        print("\nFallback: save CSV and flash manually with ESP-IDF tools.", file=sys.stderr)
        fallback_path = "nvs_config.csv"
-        with open(fallback_path, "w") as f:
-            f.write(csv_content)
+        _write_private(fallback_path, csv_content.encode("utf-8"))
        print(f"Saved NVS CSV to {fallback_path}", file=sys.stderr)
        print(f"Flash with: python $IDF_PATH/components/nvs_flash/"
              f"nvs_partition_generator/nvs_partition_gen.py generate "
@@ -497,22 +925,20 @@ def main():

    if args.dry_run:
        out = "nvs_provision.bin"
-        with open(out, "wb") as f:
-            f.write(nvs_bin)
+        _write_private(out, nvs_bin)
        print(f"NVS binary saved to {out} ({len(nvs_bin)} bytes)")
        print(f"Flash manually: python -m esptool --chip {args.chip} --port {args.port} "
              f"write_flash 0x9000 {out}")
-        # Persist merged state even on dry-run so a subsequent real flash from
-        # this machine sees the same staged config.
-        path = save_state(args.port, args.state_dir, merged)
-        print(f"State persisted to {path}")
+        # Don't persist state on dry-run: nothing reached the device, so the
+        # next real run must not merge on top of values that were never flashed.
+        print("Dry run: state file not updated.")
        return

    flash_nvs(args.port, args.baud, nvs_bin, args.chip)
    # Persist merged state after a successful flash so future partial
    # invocations from this machine merge on top of what's actually on the
    # device. This is the heart of the additive-by-default fix (#391/#574).
-    path = save_state(args.port, args.state_dir, merged)
+    path = save_board_state(args.port, chip_mac, args.state_dir, merged, legacy)
    print(f"State persisted to {path}")


@@ -0,0 +1,16 @@
+# Historical firmware snapshots
+
+These tracked files are historical artifacts, not the current release channel.
+Do not select them for a new installation: their board configurations and
+versions differ, and older builds can produce insufficient CSI traffic.
+
+Use the versioned, checksummed bundles on the
+[ESP32 0.8.14 prerelease page](https://github.com/ruvnet/RuView/releases/tag/v0.8.14-esp32)
+or the [previous stable 0.8.8 release](https://github.com/ruvnet/RuView/releases/tag/v0.8.8-esp32).
+See the [firmware guide](../README.md#0-download-a-versioned-firmware-bundle)
+for chip, flash-size and display selection. The 0.8.14 prerelease requires
+physical-board qualification; CI build success is not hardware validation.
+
+`c6-onboarding/` remains the historical 0.8.12 snapshot. Its local `version.txt`
+and `SHA256SUMS.txt` describe that snapshot, independently of current source.
+No tracked binary is updated as part of a source-only firmware release.
@@ -1,4 +1,4 @@
-126a4b9f305e207aa2e0db93caf09e27f77b3bee4b4f618a0cb963f10a4364bc  bootloader.bin
-183c4557a93f6f0be1680f45988b7c7320130c8e0ed5d9c900add038d5cc84fb  esp32-csi-node.bin
+12e9fe5bd0533c3eb8ebb1cc36f775668cc4dd39f334ea65e26529b87211dc4c  bootloader.bin
+baff3940ede0ce1658f2f5c3ba458cc9007753eb1519231d67b1ffa724382824  esp32-csi-node.bin
 7d2c7ac4888bfd75cd5f56e8d61f69595121183afc81556c876732fd3782c62f  ota_data_initial.bin
 4c2cc4ffd52641e23b779bd57b3908014083ac3c1aab395756478c89e70d81f0  partition-table.bin
@@ -0,0 +1 @@
+0.8.12
@@ -18,8 +18,8 @@ CONFIG_PARTITION_TABLE_CUSTOM=y
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_16mb.csv"

 # Firmware rollback: an OTA'd image boots PENDING_VERIFY and must confirm
-# itself, or the bootloader reverts on the next boot. See ota_rollback_* in
-# ota_update.c for when confirmation happens and why.
+# itself, or the bootloader reverts on the next boot. main/ota_health.c does
+# the confirming (IP + one CSI frame within OTA_HEALTH_TIMEOUT_S), ADR-379.
 CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y

 # Coredump to flash. The 64K `coredump` partition has existed in
@@ -19,6 +19,12 @@ CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_4mb.csv"
 CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
 CONFIG_ESPTOOLPY_FLASHSIZE="4MB"

+# Native USB/JTAG is the interactive onboarding console on C6 boards. ESP-IDF
+# secondary consoles mirror output only and cannot receive RUVIEW_HELLO_V1.
+CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
+# CONFIG_ESP_CONSOLE_UART_DEFAULT is not set
+# CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG is not set
+
 # ── CSI (required) ──
 CONFIG_ESP_WIFI_CSI_ENABLED=y

@@ -55,10 +55,12 @@ FUZZ_JOBS     ?= 1
 .PHONY: all clean run_serialize run_edge run_nvs run_all test_adr110 run_adr110 \
        test_vitals run_vitals test_mmwave_detect run_mmwave_detect host_tests \
        test_thermal run_thermal test_csi_sanitize run_csi_sanitize \
-        test_c6_antenna run_c6_antenna test_serial_onboarding run_serial_onboarding
+        test_c6_antenna run_c6_antenna test_serial_onboarding run_serial_onboarding \
+        run_delivery_contract test_ota_health run_ota_health run_onboarding_identity

 all: fuzz_serialize fuzz_edge fuzz_nvs test_adr110 test_vitals test_mmwave_detect \
-     test_thermal test_csi_sanitize test_c6_antenna test_serial_onboarding
+     test_thermal test_csi_sanitize test_c6_antenna test_serial_onboarding \
+     test_ota_health

 # --- XIAO ESP32-C6 RF switch selection ---
 # Host-side truth table for the GPIO14 antenna selector. GPIO3 is always driven
@@ -132,9 +134,27 @@ test_serial_onboarding: test_serial_onboarding_protocol.c $(MAIN_DIR)/serial_onb
 run_serial_onboarding: test_serial_onboarding
 	./test_serial_onboarding

+test_onboarding_identity: test_onboarding_identity.c $(MAIN_DIR)/onboarding_identity.h identity_stubs/esp_mac.h identity_stubs/psa/crypto.h
+	cc -std=c11 -Wall -Wextra -Werror -pedantic -Iidentity_stubs -I$(MAIN_DIR) -o $@ $<
+
+run_onboarding_identity: test_onboarding_identity
+	./test_onboarding_identity
+
+# --- OTA first-boot health check (ADR-379) ---
+# Host-side. Exercises ota_health_step() from ../main/ota_health.h directly --
+# the decision the device runs to confirm or roll back an OTA'd image.
+test_ota_health: test_ota_health.c $(MAIN_DIR)/ota_health.h
+	cc -std=c99 -Wall -Wextra -Werror -I$(MAIN_DIR) -o $@ $<
+
+run_ota_health: test_ota_health
+	./test_ota_health
+
+run_delivery_contract:
+	python3 test_delivery_contract.py
+
 host_tests: run_adr110 run_vitals run_mmwave_detect run_thermal run_csi_sanitize \
-            run_c6_antenna run_serial_onboarding
-	@echo "Host tests passed (ADR-110 + CSI sanitation + vitals + mmwave + thermal + C6 antenna + USB onboarding)"
+            run_c6_antenna run_serial_onboarding run_onboarding_identity run_delivery_contract run_ota_health
+	@echo "Host tests passed (ADR-110 + CSI sanitation + vitals + mmwave + thermal + C6 antenna + USB onboarding + delivery contract + OTA health)"

 # --- Serialize fuzzer ---
 # Tests csi_serialize_frame() with random wifi_csi_info_t inputs.
@@ -171,5 +191,6 @@ run_all: run_serialize run_edge run_nvs

 clean:
 	rm -f fuzz_serialize fuzz_edge fuzz_nvs test_adr110 test_vitals test_mmwave_detect \
-		test_thermal test_csi_sanitize test_c6_antenna test_serial_onboarding
+		test_thermal test_csi_sanitize test_c6_antenna test_serial_onboarding \
+		test_ota_health test_onboarding_identity
 	rm -rf corpus_serialize/ corpus_edge/ corpus_nvs/
@@ -0,0 +1,8 @@
+#ifndef RUVIEW_TEST_ESP_MAC_H
+#define RUVIEW_TEST_ESP_MAC_H
+#include <stdint.h>
+typedef int esp_err_t;
+#define ESP_OK 0
+esp_err_t esp_base_mac_addr_get(uint8_t *mac);
+esp_err_t esp_efuse_mac_get_default(uint8_t *mac);
+#endif
@@ -0,0 +1,13 @@
+#ifndef RUVIEW_TEST_PSA_CRYPTO_H
+#define RUVIEW_TEST_PSA_CRYPTO_H
+#include <stddef.h>
+#include <stdint.h>
+typedef int psa_status_t;
+typedef uint32_t psa_algorithm_t;
+#define PSA_SUCCESS 0
+#define PSA_ALG_SHA_256 ((psa_algorithm_t)0x02000009)
+psa_status_t psa_crypto_init(void);
+psa_status_t psa_hash_compute(psa_algorithm_t algorithm,
+                            const uint8_t *input, size_t input_length,
+                            uint8_t *hash, size_t hash_size, size_t *hash_length);
+#endif
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+"""Static delivery contracts that do not require an ESP-IDF toolchain."""
+
+from pathlib import Path
+import argparse
+import hashlib
+import sys
+import tempfile
+import unittest
+
+
+FIRMWARE_ROOT = Path(__file__).resolve().parents[1]
+REPOSITORY_ROOT = FIRMWARE_ROOT.parents[1]
+
+
+def app_version(path: Path) -> str:
+    """Read the first segment's ESP-IDF app descriptor, not arbitrary strings.
+
+    IDF image header + segment header occupy 32 bytes; esp_app_desc_t has
+    magic 0xABCD5432 and a 32-byte version at descriptor offset 16.
+    """
+    with path.open("rb") as stream:
+        header = stream.read(80)
+    if (len(header) != 80 or header[0] != 0xE9
+            or header[32:36] != bytes.fromhex("3254cdab")):
+        raise ValueError("missing ESP-IDF application descriptor")
+    return header[48:80].split(b"\0", 1)[0].decode("ascii")
+
+
+class FirmwareDeliveryContractTests(unittest.TestCase):
+    def test_c6_uses_native_usb_serial_jtag_as_primary_console(self) -> None:
+        config = (FIRMWARE_ROOT / "sdkconfig.defaults.esp32c6").read_text(encoding="utf-8")
+        self.assertIn("CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y", config)
+        self.assertNotIn("CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y", config)
+
+        onboarding = (FIRMWARE_ROOT / "main/serial_onboarding.c").read_text(encoding="utf-8")
+        self.assertNotIn('open("/dev/secondary"', onboarding)
+
+    def test_historical_c6_snapshot_matches_its_own_version_and_checksums(self) -> None:
+        snapshot = FIRMWARE_ROOT / "release_bins/c6-onboarding"
+        expected = (snapshot / "version.txt").read_text(encoding="utf-8").strip()
+        self.assertEqual(app_version(snapshot / "esp32-csi-node.bin"), expected)
+        for line in (snapshot / "SHA256SUMS.txt").read_text(encoding="ascii").splitlines():
+            digest, filename = line.split()
+            self.assertEqual(hashlib.sha256((snapshot / filename).read_bytes()).hexdigest(), digest)
+
+    def test_app_version_rejects_truncated_or_wrong_descriptor(self) -> None:
+        with tempfile.TemporaryDirectory() as directory:
+            path = Path(directory) / "app.bin"
+            for data in [b"", b"0.8.14\0" * 20, b"\xe9" + b"\0" * 79]:
+                path.write_bytes(data)
+                with self.assertRaises(ValueError):
+                    app_version(path)
+
+    def test_firmware_tags_publish_downloadable_release_assets(self) -> None:
+        workflow = (REPOSITORY_ROOT / ".github/workflows/firmware-ci.yml").read_text(encoding="utf-8")
+        self.assertIn("publish-release-assets:", workflow)
+        self.assertIn("esp32-csi-node-firmware-*", workflow)
+        self.assertIn("softprops/action-gh-release@", workflow)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--built-app", type=Path)
+    args, remaining = parser.parse_known_args()
+    if args.built_app:
+        expected = (FIRMWARE_ROOT / "version.txt").read_text(encoding="utf-8").strip()
+        actual = app_version(args.built_app)
+        if actual != expected:
+            raise SystemExit(f"built application version {actual!r} does not match {expected!r}")
+        print(f"PASS: built application descriptor version {actual}")
+    unittest.main(argv=[sys.argv[0], *remaining])
@@ -0,0 +1,74 @@
+/* Exercises the production identity boundary with synthetic IDF/PSA seams.
+ * This verifies the complete six-byte MAC reaches PSA, not PSA's SHA-256
+ * implementation or physical hardware. No replacement hash ships on device. */
+#include <assert.h>
+#include "onboarding_identity.h"
+
+static uint8_t board_mac[6] = {0x02, 0x10, 0x20, 0x30, 0x40, 0x50};
+static int mac_result, init_result, hash_result;
+static size_t hash_length = 32;
+static unsigned mac_calls, hash_calls;
+
+esp_err_t esp_base_mac_addr_get(uint8_t *mac)
+{
+    mac_calls++;
+    memcpy(mac, board_mac, sizeof(board_mac));
+    return mac_result;
+}
+
+esp_err_t esp_efuse_mac_get_default(uint8_t *mac)
+{
+    (void)mac;
+    assert(!"EUI-64 API must never receive the six-byte identity buffer");
+    return -1;
+}
+
+psa_status_t psa_crypto_init(void) { return init_result; }
+
+psa_status_t psa_hash_compute(psa_algorithm_t algorithm,
+                            const uint8_t *input, size_t input_length,
+                            uint8_t *hash, size_t hash_size, size_t *length)
+{
+    static const uint8_t domain[] = "ruview-device-v1";
+    hash_calls++;
+    assert(algorithm == PSA_ALG_SHA_256);
+    assert(input_length == sizeof(domain) - 1 + sizeof(board_mac));
+    assert(memcmp(input, domain, sizeof(domain) - 1) == 0);
+    assert(memcmp(input + sizeof(domain) - 1, board_mac, sizeof(board_mac)) == 0);
+    assert(hash_size == 32);
+    /* Synthetic digest exposes lost tail bytes and output hex formatting. */
+    memset(hash, 0xab, hash_size);
+    memcpy(hash, board_mac, sizeof(board_mac));
+    *length = hash_length;
+    return hash_result;
+}
+
+int main(void)
+{
+    char first[17], second[17];
+    ruview_onboarding_device_digest(first);
+    assert(strcmp(first, "021020304050abab") == 0);
+    board_mac[5]++;
+    ruview_onboarding_device_digest(second);
+    assert(strcmp(second, "021020304051abab") == 0);
+    assert(strcmp(first, second) != 0);
+    assert(mac_calls == 2 && hash_calls == 2);
+
+    mac_result = -1;
+    ruview_onboarding_device_digest(second);
+    assert(strcmp(second, "0000000000000000") == 0 && hash_calls == 2);
+    mac_result = 0;
+    init_result = -1;
+    ruview_onboarding_device_digest(second);
+    assert(strcmp(second, "0000000000000000") == 0 && hash_calls == 2);
+    init_result = 0;
+    hash_result = -1;
+    ruview_onboarding_device_digest(second);
+    assert(strcmp(second, "0000000000000000") == 0);
+    hash_result = 0;
+    hash_length = 31;
+    ruview_onboarding_device_digest(second);
+    assert(strcmp(second, "0000000000000000") == 0);
+    puts("PASS: six-byte onboarding identity input and fail-closed output");
+    return 0;
+}
@@ -0,0 +1,148 @@
+/**
+ * @file test_ota_health.c
+ * @brief Pins the OTA first-boot health check decision (ADR-379).
+ *
+ * Exercises `ota_health_step()` from ../main/ota_health.h directly -- the same
+ * function the device build runs, not a copy -- so the test and the firmware
+ * cannot drift apart.
+ *
+ * The regression that motivated this: nothing ever called
+ * esp_ota_mark_app_valid_cancel_rollback(), so on rollback-enabled nodes every
+ * OTA'd image reverted at the next reset, and a bad image was never caught.
+ *
+ * Config under test: timeout 120 s, minimum uptime 30 s.
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include "ota_health.h"
+
+#define TIMEOUT_MS 120000u
+#define MIN_UP_MS   30000u
+
+static int g_failures = 0;
+
+static const char *name(ota_health_verdict_t v)
+{
+    switch (v) {
+    case OTA_HEALTH_WAIT:       return "WAIT";
+    case OTA_HEALTH_MARK_VALID: return "MARK_VALID";
+    case OTA_HEALTH_ROLLBACK:   return "ROLLBACK";
+    }
+    return "?";
+}
+
+static void expect(ota_health_verdict_t got, ota_health_verdict_t want,
+                   const char *why)
+{
+    if (got != want) {
+        printf("  FAIL: got %s, expected %s\n        %s\n", name(got), name(want), why);
+        g_failures++;
+    }
+}
+
+static void expect_reason(const ota_health_sm_t *sm, const char *needle,
+                          const char *why)
+{
+    if (strstr(sm->reason, needle) == NULL) {
+        printf("  FAIL: reason \"%s\" lacks \"%s\"\n        %s\n",
+               sm->reason, needle, why);
+        g_failures++;
+    }
+}
+
+static const ota_health_cfg_t CFG = { TIMEOUT_MS, MIN_UP_MS, false };
+
+int main(void)
+{
+    ota_health_sm_t sm;
+
+    printf("ota health check (timeout %u ms, min uptime %u ms)\n",
+           TIMEOUT_MS, MIN_UP_MS);
+
+    /* Healthy boot: IP at 4 s, first CSI frame at 6 s, confirmed at 30 s. */
+    ota_health_sm_init(&sm);
+    expect(ota_health_step(&sm, &CFG, false, false, 1000), OTA_HEALTH_WAIT,
+           "nothing yet, well inside the deadline");
+    expect(ota_health_step(&sm, &CFG, true, false, 4000), OTA_HEALTH_WAIT,
+           "IP alone is not enough");
+    expect(ota_health_step(&sm, &CFG, false, true, 6000), OTA_HEALTH_WAIT,
+           "both signals in, but below the minimum uptime");
+    expect(ota_health_step(&sm, &CFG, false, false, 29999), OTA_HEALTH_WAIT,
+           "one ms short of the minimum uptime");
+    expect(ota_health_step(&sm, &CFG, false, false, 30000), OTA_HEALTH_MARK_VALID,
+           "latched IP + CSI at the minimum uptime must confirm the image");
+    expect_reason(&sm, "IP", "the log names the signals that passed");
+
+    /* Terminal: a verdict never changes, even past the deadline. */
+    expect(ota_health_step(&sm, &CFG, false, false, 500000), OTA_HEALTH_MARK_VALID,
+           "a confirmed image must not later be rolled back by the same check");
+
+    /* Signals arriving after the minimum uptime confirm immediately. */
+    ota_health_sm_init(&sm);
+    expect(ota_health_step(&sm, &CFG, true, true, 45000), OTA_HEALTH_MARK_VALID,
+           "both signals after min uptime -> confirm now");
+
+    /* No IP by the deadline. */
+    ota_health_sm_init(&sm);
+    expect(ota_health_step(&sm, &CFG, false, false, 119999), OTA_HEALTH_WAIT,
+           "one ms before the deadline");
+    expect(ota_health_step(&sm, &CFG, false, false, 120000), OTA_HEALTH_ROLLBACK,
+           "no signals at the deadline -> roll back");
+    expect_reason(&sm, "no IP and no CSI", "both missing");
+
+    /* IP but the CSI pipeline never delivers. */
+    ota_health_sm_init(&sm);
+    ota_health_step(&sm, &CFG, true, false, 5000);
+    expect(ota_health_step(&sm, &CFG, false, false, 120000), OTA_HEALTH_ROLLBACK,
+           "associated but no CSI frame -> roll back");
+    expect_reason(&sm, "no CSI frame", "names the missing CSI signal");
+
+    /* CSI sent (can happen only with IP in practice) but no IP event seen. */
+    ota_health_sm_init(&sm);
+    ota_health_step(&sm, &CFG, false, true, 5000);
+    expect(ota_health_step(&sm, &CFG, false, false, 130000), OTA_HEALTH_ROLLBACK,
+           "no IP -> roll back");
+    expect_reason(&sm, "no IP", "names the missing IP signal");
+
+    /* Rollback is terminal too. */
+    expect(ota_health_step(&sm, &CFG, true, true, 131000), OTA_HEALTH_ROLLBACK,
+           "late signals must not resurrect a rolled-back verdict");
+
+    /* Force-fail hook rolls back exactly where it would have confirmed. */
+    {
+        const ota_health_cfg_t ff = { TIMEOUT_MS, MIN_UP_MS, true };
+        ota_health_sm_init(&sm);
+        expect(ota_health_step(&sm, &ff, true, true, 10000), OTA_HEALTH_WAIT,
+               "force-fail still waits for the minimum uptime");
+        expect(ota_health_step(&sm, &ff, false, false, 30000), OTA_HEALTH_ROLLBACK,
+               "force-fail must roll back instead of confirming");
+        expect_reason(&sm, "FORCE_FAIL", "names the test hook");
+    }
+
+    /* Minimum uptime above the timeout is clamped, not a guaranteed rollback. */
+    {
+        const ota_health_cfg_t bad = { 60000u, 600000u, false };
+        ota_health_sm_init(&sm);
+        expect(ota_health_step(&sm, &bad, true, true, 59999), OTA_HEALTH_WAIT,
+               "clamped min uptime: still waiting just before it");
+        expect(ota_health_step(&sm, &bad, false, false, 60000), OTA_HEALTH_MARK_VALID,
+               "healthy at the deadline must confirm, not roll back");
+    }
+
+    /* Zero minimum uptime confirms on the first step with both signals. */
+    {
+        const ota_health_cfg_t zero = { TIMEOUT_MS, 0u, false };
+        ota_health_sm_init(&sm);
+        expect(ota_health_step(&sm, &zero, true, true, 0), OTA_HEALTH_MARK_VALID,
+               "no soak configured -> confirm immediately");
+    }
+
+    if (g_failures) {
+        printf("FAILED: %d case(s)\n", g_failures);
+        return 1;
+    }
+    printf("OK: all OTA health cases pass\n");
+    return 0;
+}
				`@@ -0,0 +1 @@`
				<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="304" viewBox="0 0 1200 304" role="img" aria-labelledby="title desc"><title id="title">Explore Cognitum One</title><desc id="desc">Ambient Intelligence at the edge of the physical world. Open cognitum.one.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>text{font-family:Arial,Helvetica,sans-serif}.mono{font-family:ui-monospace,Consolas,monospace;letter-spacing:2px}.flow{stroke-dasharray:5 12;animation:flow 12s linear infinite}.breathe{animation:breathe 6s ease-in-out infinite}.trace{stroke-dasharray:400;stroke-dashoffset:0;animation:trace 10s ease-in-out infinite}.float{animation:float 9s ease-in-out infinite}@keyframes flow{to{stroke-dashoffset:-136}}@keyframes breathe{50%{opacity:.4}}@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}@keyframes float{50%{transform:translateY(-6px)}}@media(prefers-reduced-motion:reduce){*{animation:none!important}}</style><rect x=".5" y=".5" width="1199" height="303" rx="18" fill="url(#wash)" stroke="#245360"/><text x="44" y="42" font-size="12" fill="#72eee0" text-anchor="start" class="mono">COGNITUM ONE</text><text x="44" y="99" font-size="42" fill="#ecfafb" text-anchor="start" >Ambient Intelligence.</text><text x="44" y="147" font-size="25" fill="#72eee0" text-anchor="start" >At the edge of the physical world.</text><text x="44" y="190" font-size="16" fill="#9abac5" text-anchor="start" >Explore the platform behind the ecosystem.</text><rect x="44" y="224" width="256" height="46" rx="11" fill="url(#accent)"/><text x="65" y="254" font-size="18" fill="#041117" text-anchor="start" >Explore Cognitum</text><path d="M263 247H284M277 240L284 247L277 254" fill="none" stroke="#041117" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><circle cx="947" cy="151" r="173" fill="url(#halo)"/><g transform="translate(945 150) scale(2.4)"><path d="M0 -38L31 -20V18L0 38L-31 18V-20ZM-31 -20L0 -1L31 -20M0 -1V38" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><path d="M-15 1L-5 11L17 -12" fill="none" stroke="#70b6ff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/></g><ellipse cx="945" cy="150" rx="140" ry="30" transform="rotate(-25 945 150)" fill="none" stroke="#3c8897" stroke-dasharray="5 18" class="flow"/><ellipse cx="945" cy="150" rx="160" ry="43" transform="rotate(-25 945 150)" fill="none" stroke="#3c8897" stroke-dasharray="5 18" class="flow"/><ellipse cx="945" cy="150" rx="180" ry="56" transform="rotate(-25 945 150)" fill="none" stroke="#3c8897" stroke-dasharray="5 18" class="flow"/></svg>