Animate anatomical pose with opposing gait and perspective depth

Replace README stick figure with shaded anatomical SVG human
Improve README spatial visuals with distinct sensing motion and typography
2026-10-19 05:10:13 -05:00 · 2026-10-12 21:04:27 -07:00 · 2026-10-12 20:58:45 -07:00 · 2026-10-12 20:52:23 -07:00 · 2026-10-12 20:33:57 -07:00 · 2026-10-12 20:28:12 -07:00
351 changed files with 32264 additions and 1700 deletions
@@ -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.
@@ -501,7 +504,7 @@ jobs:
  notify:
    name: Notify
    runs-on: ubuntu-latest
-    needs: [code-quality, test, rust-tests, performance-test, docker-build, docs]
+    needs: [code-quality, test, rust-tests, ui-tests, performance-test, docker-build, docs]
    if: always()
    permissions:
      contents: write   # required by softprops/action-gh-release
@@ -528,18 +531,22 @@ jobs:
        text: '❌ CI pipeline failed for ${{ github.ref }}'

    - name: Create GitHub Release
-      if: github.ref == 'refs/heads/main' && needs.docker-build.result == 'success'
+      if: github.ref == 'refs/heads/main' && needs.rust-tests.result == 'success' && needs.ui-tests.result == 'success' && needs.docker-build.result == 'success'
      uses: softprops/action-gh-release@3bb12739c298aeb8a4eeaf626c5b8d85266b0e65
      with:
        tag_name: v${{ github.run_number }}
-        name: Release v${{ github.run_number }}
+        name: CI snapshot v${{ github.run_number }}
+        # CI snapshots must not replace a curated product release as Latest.
+        make_latest: false
        body: |
-          Automated release from CI pipeline
+          Source snapshot validated by the CI pipeline. This entry does not contain firmware bundles.

          **Changes:**
          ${{ github.event.head_commit.message }}

-          **Docker Image:**
-          `${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.sha }}`
+          **Source commit:** `${{ github.sha }}`
+
+          Container images publish separately through the [sensing-server release workflow](https://github.com/ruvnet/RuView/actions/workflows/sensing-server-docker.yml).
+          Firmware downloads are attached to the dedicated `vX.Y.Z-esp32` releases.
        draft: false
        prerelease: false
@@ -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: |
@@ -208,7 +223,7 @@ jobs:
  publish-release-assets:
    name: Publish firmware release assets
    if: github.ref_type == 'tag'
-    needs: [version-guard, build, build-c6-idf6]
+    needs: [version-guard, provisioning-tests, build, build-c6-idf6]
    runs-on: ubuntu-latest
    permissions:
      contents: write
@@ -232,7 +247,12 @@ jobs:
        uses: softprops/action-gh-release@3bb12739c298aeb8a4eeaf626c5b8d85266b0e65
        with:
          name: ESP32 firmware ${{ github.ref_name }}
+          prerelease: true
+          make_latest: false
          body: |
-            Exact-run ESP32-S3 8 MB, ESP32-S3 4 MB, and ESP32-C6 4 MB firmware bundles.
+            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/*
@@ -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)"
@@ -4,6 +4,12 @@ on:
  pull_request:
    paths:
      - 'harness/ruview/**'
+      - 'scripts/csi-udp-relay.py'
+      - 'scripts/esp32_jsonl_to_rvcsi.py'
+      - 'scripts/overnight-empty-capture.py'
+      - 'scripts/record-csi-udp.py'
+      - 'scripts/collect-training-data.py'
+      - 'scripts/align-ground-truth.js'
      - '.github/scripts/nightly-sota/**'
      - '.github/workflows/nightly-sota-agent.yml'
      - '.github/workflows/ruview-harness-flywheel.yml'
@@ -25,8 +31,12 @@ concurrency:

 jobs:
  verify:
-    name: Verify contributor harness
-    runs-on: ubuntu-latest
+    name: Verify contributor harness (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest]
    defaults:
      run:
        working-directory: harness/ruview
@@ -39,9 +49,13 @@ jobs:
          node-version: 22
          cache: npm
          cache-dependency-path: harness/ruview/package-lock.json
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.11'
      - run: npm ci --ignore-scripts
      - run: npm audit --omit=optional
      - run: npm test
+      - run: npm run test:security
      - run: npm run brain:verify
      - run: npm run flywheel:plan
      - run: npm run flywheel:verify
@@ -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
@@ -7,6 +7,19 @@ 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`:
@@ -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.
@@ -6,6 +6,27 @@
  </a>
 </p>

+[![RuView: spaces become signals, with an animated conceptual RF field](assets/readme/hero-spatial-v6.svg)](docs/user-guide.md)
+
+<table>
+<tr>
+<td align="center" width="33%"><a href="docs/user-guide.md"><img src="assets/readme/nav-start-spatial-v4.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-spatial-v4.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-spatial-v4.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-spatial-v4.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-spatial-v4.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-spatial-v4.svg" width="180" alt="Cognitum Seed" /></a><br/><a href="https://cognitum.one/seed">Cognitum Seed</a></td>
+</tr>
+</table>
+
+<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 +42,8 @@ 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-spatial-v4.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
@@ -37,6 +60,22 @@ 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-spatial-v4.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-spatial-v4.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-spatial-v6.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-spatial-v4.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-spatial-v4.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-spatial-v4.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>

@@ -127,8 +166,8 @@ RuView turns ordinary WiFi into a contactless sensor. A $9 ESP32 board reads the
 > | 🧱 **Through-wall sensing** | Fresnel-zone geometry + multipath modeling | Up to ~5 m, signal-dependent |
 > | 🧠 **Edge intelligence** | **105-cog catalog** ([ADR-102](docs/adr/ADR-102-edge-module-registry.md)) live from `app-registry.json` — health, security, building, retail, industrial, research, AI, swarm, signal, network, and developer modules. Optional Cognitum Seed adds persistent vector store + kNN + witness chain | $140 total BOM |
 > | 🎯 **Camera-free pre-training** | Self-supervised contrastive encoder, 12.2M training steps on 60K frames, shipped on Hugging Face | 84 s/epoch retrain on M4 Pro |
-> | 📷 **Camera-supervised fine-tune** | MediaPipe + ESP32 CSI paired training, end-to-end Candle pipeline on RTX 5080 ([ADR-079](docs/adr/ADR-079-camera-supervised-pose-finetune.md)) | 2.1 s for 400 epochs (~5 ms/epoch) |
-> | 📡 **Multi-frequency mesh** | Channel hopping across 6 bands, TDM slot scheduling ([ADR-029](docs/adr/ADR-029-multifrequency-mesh.md)) | 3× sensing bandwidth |
+> | 📷 **Camera-supervised fine-tune** | MediaPipe + ESP32 CSI paired training, end-to-end Candle pipeline on RTX 5080 ([ADR-079](docs/adr/ADR-079-camera-ground-truth-training.md)) | 2.1 s for 400 epochs (~5 ms/epoch) |
+> | 📡 **Multi-frequency mesh** | Channel hopping across 6 bands, TDM slot scheduling ([ADR-029](docs/adr/ADR-029-ruvsense-multistatic-sensing-mode.md)) | 3× sensing bandwidth |
 > | 🌐 **3D point cloud fusion** | Camera depth (MiDaS) + WiFi CSI + mmWave radar → unified spatial model | 22 ms pipeline · 19K+ points/frame |
 >
 > Browse the full 105-module catalog (with practical descriptions, sizes, and difficulty) below in [🧩 Edge Module Catalog](#-edge-module-catalog), or visit [seed.cognitum.one/store](https://seed.cognitum.one/store).
@@ -141,8 +180,11 @@ 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:
@@ -254,6 +296,8 @@ The separate **17-keypoint pose-estimation model** is now published at [`ruvnet/

 ### Results & proof

+[![RuView visual guide: header-evidence](assets/readme/header-evidence-spatial-v4.svg)](docs/benchmarks/pose-estimation-cog.md)
+
 See the measured benchmarks, witness records, and one-command reproducibility check.

 <details>
@@ -308,6 +352,8 @@ 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-spatial-v4.svg)](firmware/esp32-csi-node/README.md)
+
 Add signed modules for health, security, buildings, industry, research, AI, and more.

 <details>
@@ -482,6 +528,8 @@ Browse and install modules at [seed.cognitum.one/store](https://seed.cognitum.on

 ## 🔬 How It Works

+[![RuView visual guide: overview](assets/readme/overview-spatial-v4.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:

 ```
@@ -606,6 +654,8 @@ These scenarios exploit WiFi's ability to penetrate solid materials — concrete

 ## 🧠 Self-Learning WiFi AI

+[![RuView visual guide: header-learning](assets/readme/header-learning-spatial-v4.svg)](docs/user-guide.md)
+
 Learn compact room fingerprints from raw CSI and adapt the model to each environment.

 <details>
@@ -735,6 +785,8 @@ For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.9.1`. The quick c

 ## 📖 Documentation

+[![RuView visual guide: header-docs](assets/readme/header-docs-spatial-v4.svg)](docs/user-guide.md)
+
 Start with the user, build, and calibration guides; expand for the full reference map.

 <details>
@@ -776,6 +828,8 @@ 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-spatial-v4.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 +1,21 @@
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+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
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+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
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+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+
+
+
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{stroke-dasharray:3 14;animation:flow 8s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+
+.sweep{animation:sweep 5s ease-in-out infinite;transform-origin:0 0}
+
+
+
+
+@keyframes sweep{0%,100%{transform:rotate(-20deg)}50%{transform:rotate(155deg)}}
+
+
+
+
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+
+
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
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+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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@@ -0,0 +1,21 @@
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+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="1199" height="147" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(76 75) scale(0.75)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#142c50" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#2e527d" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><path d="M-42 6H-27L-18 -10L-9 25L3 -25L14 10L24 -3L31 6H43" fill="none" stroke="#b8f36c" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/><path d="M-42 31H43" fill="none" stroke="#233f63" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /></g></g><text x="140" y="63" font-size="34" fill="#f3f7ff" text-anchor="start" font-weight="650" letter-spacing="-0.6" >From recordings to models</text><text x="142" y="99" font-size="12" fill="#78cfff" text-anchor="start" font-weight="500" class="mono">CAPTURE / TRAIN / EVALUATE</text><g transform="translate(1012 84) scale(0.55)"><path d="M-82 36L0 -6L82 36L0 78Z" fill="#0b1b35" stroke="#2e5b8e"/><path d="M-82 36V-52L0 -94L82 -52V36M-82 -52L0 -10L82 -52M0 -10V78" fill="none" stroke="#4473a5"/><g class="scan"><path d="M-81 32L0 -10L81 32L0 74Z" fill="#438fff" fill-opacity=".12" stroke="#78cfff" stroke-opacity=".7"/></g><circle cx="-40" cy="6" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><circle cx="0" cy="-15" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><circle cx="40" cy="6" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><circle cx="-20" cy="30" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><circle cx="20" cy="30" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><circle cx="0" cy="49" r="2" stroke="#438fff"  fill="#438fff" class="spark"/><g class="orbit"><ellipse cx="0" cy="4" rx="102" ry="30" fill="none" stroke="#438fff" stroke-opacity=".4" stroke-dasharray="2 8"/><circle cx="102" cy="4" r="4" fill="#9ee7ff"/></g><ellipse cx="0" cy="36" rx="85" ry="28" fill="none" stroke="#438fff" class="wave"/></g><path d="M1140 70H1160M1152 62L1160 70L1152 78" fill="none" stroke="#78cfff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /></svg>
@@ -0,0 +1,31 @@
+<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">From recordings to models</title><desc id="desc">Animated section heading. CAPTURE / TRAIN / EVALUATE</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+
+
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
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+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
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+
+
+
+
+.cursor{animation:cursor 5s ease-in-out infinite}
+
+
+
+@keyframes cursor{0%,100%{transform:translateX(-35px);opacity:.3}50%{transform:translateX(35px);opacity:1}}
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+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
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+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
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+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#133a45" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#285c68" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><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></g><text x="90" y="98" font-size="16" fill="#ecfafb" text-anchor="middle" font-weight="500" >Hardware</text></svg>
@@ -0,0 +1,21 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Smart home</title><desc id="desc">Open Smart home. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#142c50" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#2e527d" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><path d="M-37 -3L0 -34L37 -3M-28 -10V32H28V-10M-9 32V8H9V32" fill="none" stroke="#78cfff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><circle cx="0" cy="-9" r="5" stroke="#438fff" fill="none" class="breathe"/></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Smart home</text></svg>
@@ -0,0 +1,31 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Smart home</title><desc id="desc">Open Smart home. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+
+
+
+
+
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+
+
+
+
+
+
+
+
+
+
+
+
+
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+
+
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(90 45) scale(0.65)"><ellipse cy="53" rx="48" ry="8" fill="#020816" opacity=".65"/><g class="float"><path d="M-43 12L0 -10L43 12L0 35Z" fill="#102749" stroke="#438fff"/><path d="M-32 17V-16L0 -35L32 -16V17M-32 -16L0 3L32 -16M0 3V34" fill="none" stroke="#78cfff" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" /><path d="M-22 20L-10 13L12 25M-10 13V-5" fill="none" stroke="#b8f36c" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="flow"/><circle cx="-22" cy="20" r="4" stroke="#ffb45e"  fill="#102749" class="breathe"/><circle cx="-10" cy="-5" r="4" stroke="#ffb45e"  fill="#102749" class="breathe"/><circle cx="12" cy="25" r="4" stroke="#ffb45e"  fill="#102749" class="breathe"/></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Smart home</text><path d="M24 1H156" stroke="url(#accent)" opacity=".55"/><path d="M24 115H156" stroke="#438fff" opacity=".15"/></svg>
@@ -0,0 +1,19 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Smart home</title><desc id="desc">Open Smart home. Animated navigation icon.</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:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
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+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#133a45" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#285c68" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><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></g><text x="90" y="98" font-size="16" fill="#ecfafb" text-anchor="middle" font-weight="500" >Smart home</text></svg>
@@ -0,0 +1,21 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Models</title><desc id="desc">Open Models. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#142c50" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#2e527d" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><path d="M-42 6H-27L-18 -10L-9 25L3 -25L14 10L24 -3L31 6H43" fill="none" stroke="#b8f36c" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/><path d="M-42 31H43" fill="none" stroke="#233f63" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Models</text></svg>
@@ -0,0 +1,31 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Models</title><desc id="desc">Open Models. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+
+
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+
+
+
+
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+
+
+
+
+
+
+.cursor{animation:cursor 5s ease-in-out infinite}
+
+
+
+@keyframes cursor{0%,100%{transform:translateX(-35px);opacity:.3}50%{transform:translateX(35px);opacity:1}}
+
+
+
+
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(90 45) scale(0.65)"><ellipse cy="53" rx="48" ry="8" fill="#020816" opacity=".65"/><g class="float"><path d="M-49 -14C-34 -14 -30 -35 -17 -35S0 7 14 7S34 -14 49 -14" fill="none" stroke="#78cfff" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="trace" style="animation-delay:-0s" opacity="1.0"/><path d="M-49 -2C-34 -2 -30 -23 -17 -23S0 19 14 19S34 -2 49 -2" fill="none" stroke="#b8f36c" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="trace" style="animation-delay:-1s" opacity="0.8"/><path d="M-49 10C-34 10 -30 -11 -17 -11S0 31 14 31S34 10 49 10" fill="none" stroke="#78cfff" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round" class="trace" style="animation-delay:-2s" opacity="0.6"/><g class="cursor"><path d="M0 -42V40" fill="none" stroke="#ffb45e" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><circle cx="0" cy="-8" r="3" stroke="#ffb45e"  fill="#ffb45e"/></g></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Models</text><path d="M24 1H156" stroke="url(#accent)" opacity=".55"/><path d="M24 115H156" stroke="#438fff" opacity=".15"/></svg>
@@ -0,0 +1,19 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Models</title><desc id="desc">Open Models. Animated navigation icon.</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:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#245360"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#133a45" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#285c68" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><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></g><text x="90" y="98" font-size="16" fill="#ecfafb" text-anchor="middle" font-weight="500" >Models</text></svg>
@@ -0,0 +1,21 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Cognitum</title><desc id="desc">Open Cognitum. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+.breathe{animation:breathe 4s ease-in-out infinite}
+.trace{stroke-dasharray:400;animation:trace 6s ease-in-out infinite}
+.scan{animation:scan 7s ease-in-out infinite}
+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
+.spark{animation:spark 3.5s ease-in-out infinite}
+.wave{transform-box:fill-box;transform-origin:center;animation:wave 4s ease-out infinite}
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+@keyframes scan{0%,100%{transform:translateY(0)}50%{transform:translateY(-76px)}}
+@keyframes orbit{to{transform:rotate(360deg)}}
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
+@keyframes trace{0%,100%{stroke-dashoffset:0}50%{stroke-dashoffset:90}}
+@keyframes wave{0%{transform:scale(.5);opacity:.7}100%{transform:scale(1.3);opacity:0}}
+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
+</style><rect x=".5" y=".5" width="179" height="115" rx="18" fill="url(#wash)" stroke="#2d4e77"/><g transform="translate(90 45) scale(0.65)"><ellipse cx="0" cy="48" rx="43" ry="12" fill="#142c50" opacity=".5"/><path d="M-43 48L0 27L43 48L0 69Z" fill="none" stroke="#2e527d" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" /><g class="float"><path d="M0 -38L31 -20V18L0 38L-31 18V-20ZM-31 -20L0 -1L31 -20M0 -1V38" fill="none" stroke="#78cfff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><path d="M-15 1L-5 11L17 -12" fill="none" stroke="#438fff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Cognitum</text></svg>
@@ -0,0 +1,31 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="180" height="116" viewBox="0 0 180 116" role="img" aria-labelledby="title desc"><title id="title">Cognitum</title><desc id="desc">Open Cognitum. Animated navigation icon.</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#102749"/><stop offset=".55" stop-color="#071429"/><stop offset="1" stop-color="#03091a"/></linearGradient><linearGradient id="accent"><stop stop-color="#9ee7ff"/><stop offset="1" stop-color="#348bff"/></linearGradient><radialGradient id="halo"><stop stop-color="#348bff" stop-opacity=".17"/><stop offset="1" stop-color="#348bff" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
+.mono{font-family:"SFMono-Regular",Consolas,"Liberation Mono",monospace;letter-spacing:1.6px}
+.float{animation:float 5s ease-in-out infinite}
+.flow{stroke-dasharray:5 12;animation:flow 5s linear infinite}
+
+
+
+
+
+
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
+
+
+
+
+
+.layer{animation:layer 6s ease-in-out infinite}
+
+
+
+@keyframes layer{50%{transform:translateY(-5px)}}
+
+
+
+@keyframes flow{to{stroke-dashoffset:-136}}
+
+
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+<rect x="215" y="269" width="530" height="64" rx="12" fill="url(#panel)" stroke="#554b31" /><text x="239" y="307" font-size="17" class="mono typing all">Sense. Understand. Act.</text><rect x="689" y="282" width="38" height="38" rx="9" fill="url(#gold)" /><path d="M708 307v-13m-5 5 5-5 5 5" fill="none" stroke="#222018" stroke-width="2" stroke-linecap="round" />
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+<text x="480" y="382" text-anchor="middle" font-size="11" letter-spacing="3" class="mono muted">WIFI SENSING. NO CAMERAS.</text><g><circle class="clickring all" cx="708" cy="301" r="25" fill="none" stroke="#fae29b" /></g><g><g fill="none" stroke="#e7c467" opacity=".65"><path d="M437 214Q480 161 523 214" /><path d="M420 205Q480 133 540 205" opacity=".4" /><path d="M404 196Q480 108 556 196" opacity=".2" /></g></g></g>
+<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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r="98" fill="url(#aura)" class="breathe" /><circle cx="480" cy="239" r="57" fill="#111115" stroke="#6c5830" /><circle cx="480" cy="239" r="66" fill="none" stroke="#eac55e" stroke-opacity=".6" stroke-dasharray="38 170" class="orbit" /><use href="#crown" transform="translate(465 221)" /><rect x="147" y="169" width="200" height="55" rx="10" fill="url(#panel)" stroke="#51462e" /><circle cx="164" cy="191" r="3" fill="#e8c667" /><text x="177" y="195" font-size="18">WiFi sensors</text><text x="177" y="212" font-size="8" class="mono muted" letter-spacing="1.8">CAPTURE</text><rect x="614" y="169" width="200" height="55" rx="10" fill="url(#panel)" stroke="#51462e" /><circle cx="631" cy="191" r="3" fill="#e8c667" /><text x="644" y="195" font-size="18">RuView</text><text x="644" y="212" font-size="8" class="mono muted" letter-spacing="1.8">PERCEIVE</text><rect x="125" y="326" width="200" height="55" rx="10" fill="url(#panel)" stroke="#51462e" /><circle cx="142" cy="348" r="3" fill="#e8c667" /><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 \
@@ -6,7 +6,9 @@ Known issues and fixes from the rebase-to-upstream branch (upstream #301).

 ## 1. Node not appearing in /api/v1/nodes

-**Symptom:** ESP32-S3 node associates with WiFi, LED blinks, but no CSI frames arrive at the server. Node missing from `/api/v1/spatial/nodes`.
+**Symptom:** ESP32-S3 node associates with WiFi, LED blinks, but no CSI frames arrive at the server. Node missing from `/api/v1/nodes`.
+
+**Check the server first:** the UDP receiver listens on `127.0.0.1` by default (ADR-296), so a natively run `sensing-server` never hears nodes on your network unless it was started with `--udp-bind 0.0.0.0 --udp-allow <node-ip-or-cidr>` (or `--udp-insecure-lan`). The startup log line for the UDP receiver says `loopback-only` when this is the problem. For Docker, see "Receiving ESP32 frames in Docker" in the [user guide](user-guide.md).

 **Root cause:** After USB flash, the node enters a limping state where WiFi associates but the UDP CSI sender silently fails. The SoftAP + mDNS stack initializes but the CSI callback never fires.

@@ -145,18 +147,18 @@ ESP32 nodes still target the host on `--target-ip <host>:5005` — no firmware r

 **Symptom:** `sensing-server` starts cleanly, logs `HTTP server listening on http://localhost:3000`, but loading `http://localhost:3000/` (or `/ui/index.html`) returns `404 Not Found`. Reported in #188.

-**Root cause:** The default `--ui-path ../../ui` is resolved relative to the binary's *current working directory*, not the binary location. When the binary is launched from anywhere other than `crates/wifi-densepose-sensing-server/`, the relative path doesn't reach the UI assets and Axum's static file handler returns 404.
+**Root cause:** The default `--ui-path ../ui` is resolved relative to the *current working directory*, not the binary location. If it doesn't exist the server also tries `./ui` and `../../ui`. Launching from `v2/` works; from anywhere else (including `v2/crates/wifi-densepose-sensing-server/`) those paths miss the repo's UI, or hit some other `ui` directory, and Axum's static file handler returns 404.

-**Fix:** Pass an absolute UI path, run the binary from the crate directory, or use the Docker image (which bundles the UI under `/app/ui`).
+**Fix:** Pass an absolute UI path, run the binary from `v2/`, or use the Docker image (which bundles the UI under `/app/ui`).

 ```bash
 # Option A — absolute path (recommended for production)
 sensing-server --source esp32 --udp-port 5005 --http-port 3000 \
  --ws-port 3001 --ui-path /absolute/path/to/ui

-# Option B — run from the crate dir (works for local dev / cargo run)
-cd v2/crates/wifi-densepose-sensing-server
-cargo run -- --source esp32
+# Option B — run from v2/ (works for local dev / cargo run)
+cd v2
+cargo run -p wifi-densepose-sensing-server -- --source esp32

 # Option C — Docker (no path config needed)
 docker compose -f docker/docker-compose.yml up sensing-server
@@ -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 +1,199 @@
+# 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.
@@ -0,0 +1,23 @@
+# ADR-383: Reject malformed HTTP request targets without stopping the transport
+
+Status: Proposed; maintainer acceptance pending
+
+## Context
+
+ADR-375 introduces the authenticated Streamable HTTP transport. Node accepts an HTTP request target that the WHATWG URL parser rejects. The current request listener lets that parser exception escape, terminating the process before route selection. A bounded loopback fixture using the public `startMcpHttp` API reproduces this with `http://[`; the original code resets the connection and exits.
+
+## Decision
+
+Catch URL construction failures at the request boundary and return HTTP 400 with the generic `invalid_request_target` error. Do not include the request target or parser exception in the response, since the target can carry a secret path. Keep route selection, token checks, origin policy, grants, protocol negotiation and JSON handling unchanged.
+
+## Alternatives
+
+Relying on Node's HTTP parser does not suffice: a syntactically accepted request target can still fail URL construction. A process-level exception handler would obscure unrelated faults and would not provide a request-specific response.
+
+## Verification
+
+MEASURED software fixture: the actual child-process HTTP transport fails the new regression on the original source (nine existing controls pass); the patched transport passes all ten focused tests. The new test also verifies subsequent health, rejected unauthenticated calls and successful authenticated initialization. Broader package checks are recorded separately against the final implementation revision. No external service, device, hardware, throughput or production deployment claim is made.
+
+## Consequences
+
+Malformed URL targets receive a stable client error and do not interrupt later requests. This change does not add SSE or sessions, change authentication, or authorize additional operations.
@@ -0,0 +1,19 @@
+# ADR-384: Preserve explicitly supplied SDK search limits
+
+Status: Proposed; maintainer acceptance pending
+
+## Context
+
+The public `memorySearch(query, limit)` helper uses a truthiness check before forwarding its optional limit. Explicit zero and NaN therefore disappear, even though the shared registry rejects them. The helper silently returns success where the equivalent raw SDK call returns `invalid_arguments`; strict SDK users also miss the expected `RuViewError`.
+
+## Decision
+
+Omit the optional limit only when it is undefined. Forward every explicitly supplied value to the existing shared validator. Do not duplicate validation or change the registry range, search algorithm, result count, strict error policy or defaults.
+
+## Alternatives
+
+Validating separately in the helper would duplicate schema rules and risk drift. Retaining truthiness makes invalid caller inputs indistinguishable from an omitted option.
+
+## Verification
+
+MEASURED local software regression exercises the public SDK and actual registry. Original code fails for zero; the corrected helper rejects zero, NaN, negative and excessive limits, preserves strict errors, and matches raw registry results for omitted and valid limits. Package gate receipts are recorded separately against the final revision. No external retrieval, training, hardware or production service claim is made.
@@ -0,0 +1,19 @@
+# ADR-385: Stop watch mode on permanent input errors in every output mode
+
+Status: Proposed; maintainer acceptance pending
+
+## Context
+
+The CLI's `esp32 --watch` repeats short capture windows. Permanent bind/port errors stop the terminal view, but the piped/JSON branch continues before reaching that check. Schema-level invalid arguments also never stop either branch. Actual CLI children with a fractional UDP port or rejected bind value repeatedly emit errors despite having no usable capture configuration. These fixtures fail before opening a socket or accessing a device.
+
+## Decision
+
+Classify existing permanent port/bind errors and schema-invalid arguments before selecting output mode. Emit the error once and return exit status 1 for both terminal and JSON output. Keep repeated capture behavior for nonterminal results, including windows with no CSI packets; retain the normal watch output contract.
+
+## Alternatives
+
+Adding a delay would still repeatedly retry an unchanged invalid configuration. Stopping every unsuccessful capture would incorrectly terminate legitimate empty capture windows.
+
+## Verification
+
+MEASURED bounded actual CLI regression checks piped `--watch --json` with invalid inputs, one structured failure and nonzero exit. No network socket, hardware, external provider or live capture is exercised. Whole-package validation receipts accompany the final revision.
@@ -0,0 +1,23 @@
+# ADR-386: Recover CSI packet loss by missing sequence identity
+
+Status: Proposed; maintainer acceptance pending
+
+## Context
+
+The RF capture diagnostics report CSI packet loss and account for UDP reordering. The existing tracker decrements its gap count for any late sequence while gaps exist. A duplicated recovery or previously received packet therefore erases a different missing packet. For example, sequences 100, 103, 101, 101 leave 102 missing but currently report zero loss. Accurate loss diagnostics matter when distinguishing transport problems from healthy sensing input.
+
+## Decision
+
+Retain the identities of counted missing sequences within the existing 1024-sequence reorder window. Recover a gap only when deleting its identity succeeds, so a duplicate cannot recover it twice. Prune identities outside the window without erasing their historical gap counts. A confirmed counter reset clears recovery identities but preserves accumulated loss. Keep the existing frame count/rate, loss denominator, stray/reset classification and packet format unchanged.
+
+## Alternatives
+
+A duplicate-only set cannot distinguish packets observed before the capture baseline from genuinely missing ones. Keeping all missing identities indefinitely is unnecessary and could grow without bound.
+
+## Verification
+
+MEASURED software fixtures use byte-accurate RAC1 envelopes, the public capture API and real loopback UDP. Regressions cover duplicated recoveries, already-received packets, pre-capture packets and distinct valid recoveries. A direct public parser/NodeStats control checks bounded bookkeeping and reset semantics. Existing sequence/stray/reset tests remain applicable. This is a software diagnostic correction, not physical RF, device throughput or physiological accuracy validation.
+
+## Consequences
+
+Loss no longer disappears when unrelated late packets arrive. Recovery remains limited to the established reorder window; older gaps stay counted. Stored identities are bounded per node.
@@ -0,0 +1,32 @@
+# ADR-389: Measure CSI rates over the observed capture interval
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 (receive-only device diagnostics)
+
+## Context
+
+The public `captureEsp32` producer may stop at `max_packets` before its configured
+`seconds` deadline. Its node CSI rates still divided received packets by that
+requested deadline. Two packets received in approximately 150 milliseconds with a
+30-second deadline therefore appeared as 0.07 Hz, misleading operators evaluating
+whether a node streams normally.
+
+## Decision
+
+Start a monotonic clock when the UDP socket successfully binds. At completion,
+calculate `elapsedSeconds` and use it as the denominator for node CSI rates.
+Retain `seconds` as the configured deadline for compatibility and expose the
+observed interval separately. Close and analysis processing time are excluded.
+A socket error before binding has a zero observed interval and no received data.
+
+## Verification and limits
+
+A deterministic-format ESP32 fixture is transmitted through an owned loopback UDP
+socket into the public capture function. The baseline fails because the observed
+interval is absent and the rate is 0.07 Hz. The fixed capture checks early
+termination, preserves the deadline, and checks the rate against observed elapsed
+time. Existing CSI decoding and capture tests remain controls. This is software
+transport verification; it makes no radio, hardware, sensing-accuracy, or firmware
+throughput claim. Normal deadline captures may report a slightly longer interval
+because timer callbacks are scheduled by the host event loop.
@@ -0,0 +1,27 @@
+# ADR-390: Reduce LiDAR scan extrema without variadic argument limits
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 (device diagnostics)
+
+## Context
+
+`readRplidar` accepts up to 4 MiB of serial scan bytes. Its summary passed every
+valid distance as an argument to `Math.min` and `Math.max`. A valid 1 MiB scan
+containing 200,000 measurement nodes exceeds the JavaScript argument-stack limit
+and throws `RangeError` instead of returning diagnostics.
+
+## Decision
+
+Reduce extrema with a loop and constant auxiliary state. Retain current median,
+zero-distance filtering, coverage, units, and empty-scan behavior. This avoids
+runtime-specific argument limits across the full supported capture size.
+
+## Verification and limits
+
+An offline serial-pump dependency supplies protocol-valid bytes to the public
+`readRplidar` producer. The 3-point control passes on the baseline; the 200,000
+point fixture fails with `RangeError`. Both pass after this change with exact
+minimum, median, maximum, and coverage checks. Existing device tests provide
+empty and mixed-input controls. The fixture uses no serial device or motor and
+proves software decoding/aggregation only, not real hardware performance.
@@ -0,0 +1,29 @@
+# ADR-391: Retain synthetic CSI provenance in analysis input
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-323 (RAC1 synthetic flag), ADR-373 (CSI analysis)
+
+## Context
+
+The RAC1 decoder exposes the firmware's synthetic flag and the waterfall retains
+it, but the kernel-analysis frame collector discarded it. Analysis of synthetic
+input consequently returned the same live-CSI explanatory note as unmarked input,
+preventing callers from distinguishing synthetic-inclusive estimates.
+
+## Decision
+
+Track whether any retained analysis frame is firmware-marked synthetic, expose
+that boolean in `analysis.input.synthetic`, and explicitly describe synthetic
+input in the estimate note. Frames rejected by the analysis buffer cap do not
+change the provenance of the retained computation. Keep arrival-rate measurements
+and raw packet diagnostics unchanged. An unmarked packet is not proof of physical
+radio origin; this records an explicit upstream flag rather than certifying truth.
+
+## Verification
+
+The public capture producer receives protocol-valid RAC1 datagrams through owned
+loopback UDP and invokes an injected deterministic analyzer. A mixed marked and
+unmarked window fails the baseline provenance assertion. The fixed path retains
+true for the mixed window and false for an unmarked control. This validates
+software provenance propagation only, not sensing accuracy or hardware behavior.
@@ -0,0 +1,27 @@
+# ADR-392: Return single valid frames for explicitly selected radar models
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 (host device diagnostics)
+
+## Context
+
+The serial radar reader requires two valid frames before auto-detecting a model.
+That confidence threshold was also applied to an explicitly selected model,
+rejecting a valid short capture with one decoded presence or vital report as
+`no_valid_frames`. The caller already supplied the model and baud selection.
+
+## Decision
+
+Require two frames for auto detection and one for an explicitly selected model.
+Retain the empty-capture failure, checksums, parsing, capture permissions, and
+all reported values. A single decoded frame is a successful software read and
+is not evidence of clinical accuracy or sustained radar performance.
+
+## Verification
+
+An offline serial-pump fixture supplies one checksum-valid MR60BHA2 presence
+report through the public reader. Explicit model selection fails on the baseline
+and returns one frame with presentFraction=1 after the change. The same input in
+auto mode remains refused. Existing multi-frame and invalid-input device tests
+remain controls. No serial port or hardware was opened by this verification.
@@ -0,0 +1,28 @@
+# ADR-393: Use the arithmetic median for even LiDAR samples
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 (range and depth diagnostics)
+
+## Context
+
+The shared LiDAR median helper selected the upper middle sample for even-sized
+sets. The public depth reader reported 4 metres for confident depths of 1 and
+4 metres, and the serial scan reader likewise returned 4000 mm. Fields named
+median should report the arithmetic median, 2.5 metres or 2500 mm respectively.
+
+## Decision
+
+Average the two central sorted samples for even counts and preserve the central
+sample for odd counts. Empty sets remain null. Existing distance/confidence
+filtering and metre/millimetre conversion remain in the public producers.
+Update existing even-sample expectations to reflect the corrected numerical
+contract; this intentionally changes these statistics for even counts.
+
+## Verification
+
+Offline protocol fixtures enter both public readers through their existing
+transport injection boundaries. The baseline fails two even-sample cases and
+passes an unsorted odd-sample control. The correction verifies both units and
+zero-depth exclusion. No real LiDAR, serial device, or radar was used, and this
+software calculation does not prove measurement accuracy.
@@ -0,0 +1,26 @@
+# ADR-394: Apply strict SDK errors to diagnostic reports
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-369 (SDK operator interface)
+
+## Context
+
+A strict SDK instance throws `RuViewError` when an operation returns `ok:false`.
+The doctor helper directly invokes the diagnostic producer to retain injectable
+operator dependencies, bypassing that shared result check. Failed diagnostics
+therefore silently resolved even when the caller selected strict mode.
+
+## Decision
+
+Extract the existing result check and apply it to both registry calls and doctor
+reports. Preserve injected dependencies and retain the original structured report
+on the thrown error. Non-strict calls and successful diagnostics continue to
+resolve reports; the existing dry-run exception remains unchanged.
+
+## Verification
+
+The public SDK doctor runs a deterministic offline invalid-protocol diagnostic.
+The baseline fails the promised strict rejection. The correction checks the exact
+error class, tool identifier, and failed report; controls verify non-strict failure
+reports and successful strict reports. No external service or device is accessed.
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+# ADR-395: Preserve missing numeric CLI values for schema rejection
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-369 (operator CLI)
+
+## Context
+
+The common device/training CLI flag adapter coerces values with `Number`. A bare
+`--node-id` is parsed as boolean true and becomes node 1; `--node-id=` becomes
+node 0. Both silently select a real node rather than reporting the missing
+numeric argument. The same adapter handles capture deadlines and sample limits.
+
+## Decision
+
+Retain boolean and empty-string values in the common schema argument adapter so
+existing numeric schemas reject them. Convert explicit non-empty numeric values
+as before, including zero. Keep presentation flags and tool schemas unchanged.
+This change is limited to verbs using the common snake-case argument adapter.
+
+## Verification
+
+Execute the actual CLI process with both missing-value forms and explicit zero.
+An intentionally invalid UDP port ensures argument validation completes before
+opening a socket. Baseline errors omit node_id for both missing forms; the fixed
+CLI reports those numeric type errors while preserving the explicit zero control.
+This is offline CLI/schema verification, not a radio capture.
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+# ADR-396: Convert ESPHome millimetre distances to reported centimetres
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 Amendment 3 (ESPHome radar reader)
+
+## Context
+
+ESPHome sensor discovery advertises each entity's unit. The reader maps entities
+named distance into `distanceCmMean`, converting metres to centimetres but leaving
+millimetres unchanged. An advertised 500 mm measurement therefore became 500 cm
+instead of 50 cm, a factor-of-ten numerical error.
+
+## Decision
+
+Apply unit scales of 100 for metres and 0.1 for millimetres. Preserve centimetre
+and existing unspecified/other-unit behavior, positive-distance filtering, and
+entity metadata. Unit matching remains case insensitive. This is a correction
+to reported units, not a change to sensor discovery or access permissions.
+
+## Verification
+
+The public reader connects to an owned loopback TCP fixture speaking the native
+ESPHome protocol. Discovery and state updates carry 500 mm, 0.5 m, and 50 cm.
+The millimetre baseline fails with 500 cm; metre and centimetre controls pass.
+All three report 50 cm after the correction. This proves software protocol/unit
+handling only; no real radar or external network service was accessed.
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+# ADR-397: Distinguish ESPHome received updates from retained samples
+
+- Status: proposed
+- Date: 2026-10-11
+- Related: ADR-373 Amendment 3 (bounded ESPHome sessions)
+
+## Context
+
+ESPHome sessions count every incoming state update, but each entity retains only
+its first 10,000 samples. The entity report used the retained length as `updates`,
+understating actual arrivals once this cap was reached. Mean values also came from
+that bounded subset without exposing how many updates were omitted.
+
+## Decision
+
+Maintain a separate arrival counter per entity. Report that count as `updates`,
+retain `sampledUpdates` for the aggregation subset, and disclose `droppedSamples`.
+Preserve the existing buffer bound and latest-value behavior. Existing hand-built
+summary sessions without the new counter fall back to their retained sample count.
+
+## Verification
+
+An owned loopback native-protocol fixture emits 10,001 distance state updates
+through the public reader. The baseline reports session=10,001 but entity=10,000.
+The correction reports received=10,001, retained=10,000, omitted=1, with unchanged
+50 cm mean. An existing small multi-entity fixture verifies zero omitted samples
+and correct ordinary counts. This is software aggregation verification only.