Animate anatomical pose with opposing gait and perspective depth

fix(toolkit): integrate capture/device corrections for 0.9.2

.claude-plugin/marketplace.json

@@ -10,6 +10,11 @@
       "name": "ruview",
       "source": "./plugins/ruview",
       "description": "End-to-end RuView toolkit: getting started, ESP32 hardware setup, configuration, sensing applications (presence / vitals / pose / sleep / MAT), camera-free + camera-supervised model training, advanced multistatic sensing, CLI / API / WASM, mmWave radar, and witness verification"
+    },
+    {
+      "name": "ruview-live",
+      "source": "./harness/ruview/mod",
+      "description": "Claude Code mod: /ruview opens a live pane with your CSI nodes (ESP32, Realtek) and ESPHome radar (presence, distance, device-reported vitals), refreshed on a timer, plus a one-line status. Read-only; ships inside @ruvnet/ruview. Mods are early access (CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1)."
     }
   ]
 }

.github/scripts/nightly-sota/agent.mjs

@@ -135,6 +135,10 @@ async function runProcess(command, args, {
         resolve(result);
       });
     });
+    // A child that never reads stdin (e.g. `git check-ignore`) may exit and
+    // close the pipe before this write flushes; the resulting EPIPE is not a
+    // failure of the command, whose real outcome the 'close' handler reports.
+    child.stdin.on('error', () => {});
     child.stdin.end(input);
   });
 }

.github/workflows/bfi-research.yml

@@ -0,0 +1,43 @@
+name: BFI Research Tools
+
+on:
+  pull_request:
+    paths:
+      - 'tools/bfi/**'
+      - 'tools/bfi_learning/**'
+      - '.github/workflows/bfi-research.yml'
+  push:
+    branches: [main]
+    paths:
+      - 'tools/bfi/**'
+      - 'tools/bfi_learning/**'
+      - '.github/workflows/bfi-research.yml'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: bfi-research-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  offline-tests:
+    name: BFI offline tests (Linux, CPU)
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262
+        with:
+          persist-credentials: false
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.13'
+      - name: Install numeric test dependencies
+        run: python -m pip install numpy==2.4.2 scipy==1.17.1
+      - name: Install CPU PyTorch
+        run: python -m pip install torch==2.11.0 --index-url https://download.pytorch.org/whl/cpu
+      - name: Test capture parsing and bounded runners
+        run: python -B -m unittest discover -s tools/bfi -v
+      - name: Test offline learning and data admission
+        run: python -B -m unittest discover -s tools/bfi_learning -v

.github/workflows/ci.yml

@@ -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

.github/workflows/firmware-ci.yml

@@ -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
@@ -53,7 +64,9 @@ jobs:
             sdkconfig: sdkconfig.defaults
             partition_table_name: partitions_display.csv
             size_warn_kb: 1100
-            size_limit_kb: 1152
+            # Current 8 MB image is 1163 KiB after USB onboarding. The OTA app
+            # partition is 2048 KiB; retain a 1200 KiB hard gate and warning.
+            size_limit_kb: 1200
             artifact_app: esp32-csi-node.bin
             artifact_pt: partition-table.bin
           - variant: 4mb
@@ -92,12 +105,11 @@ jobs:
           idf.py set-target ${{ matrix.target }}
           idf.py build
 
-      - name: Build and run host-side ADR-110 unit tests
+      - name: Build and run host-side firmware unit tests
         if: matrix.variant == 'c6-4mb'
         working-directory: firmware/esp32-csi-node/test
         run: |
-          make test_adr110
-          ./test_adr110
+          make host_tests
 
       - name: Verify binary size budget
         working-directory: firmware/esp32-csi-node
@@ -118,6 +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: |
@@ -184,3 +200,59 @@ jobs:
           name: esp32-csi-node-firmware-${{ matrix.variant }}
           path: firmware/esp32-csi-node/release-staging/
           retention-days: 90
+
+  build-c6-idf6:
+    name: Build XIAO C6 external antenna (ESP-IDF 6.0.2)
+    runs-on: ubuntu-latest
+    container:
+      image: espressif/idf:v6.0.2
+    steps:
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262
+        with:
+          submodules: recursive
+
+      - name: Build the IDF 6 canary image
+        working-directory: firmware/esp32-csi-node
+        run: |
+          . $IDF_PATH/export.sh
+          idf.py -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;sdkconfig.defaults.esp32c6;sdkconfig.defaults.xiao-external" set-target esp32c6
+          idf.py build
+          test "$(stat -c%s build/esp32-csi-node.bin)" -le $((1152 * 1024))
+          strings build/esp32-csi-node.bin | grep -F "external U.FL"
+
+  publish-release-assets:
+    name: Publish firmware release assets
+    if: github.ref_type == 'tag'
+    needs: [version-guard, provisioning-tests, build, build-c6-idf6]
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - name: Download the exact-run firmware artifacts
+        uses: actions/download-artifact@d3f86a106a0bac45b974a628896c90dbdf5c8093
+        with:
+          pattern: esp32-csi-node-firmware-*
+          path: release-downloads
+
+      - name: Package variants without filename collisions
+        run: |
+          mkdir -p release-assets
+          for directory in release-downloads/esp32-csi-node-firmware-*; do
+            variant="${directory##*/}"
+            tar -C "$directory" -czf "release-assets/${variant}.tar.gz" .
+          done
+          (cd release-assets && sha256sum *.tar.gz > SHA256SUMS.txt)
+
+      - name: Publish the downloadable firmware bundles
+        uses: softprops/action-gh-release@3bb12739c298aeb8a4eeaf626c5b8d85266b0e65
+        with:
+          name: ESP32 firmware ${{ github.ref_name }}
+          prerelease: true
+          make_latest: false
+          body: |
+            Exact-run ESP32-S3 display 8 MB, ESP32-S3 headless 4 MB, and ESP32-C6 4 MB firmware bundles.
+            Verify each archive against `SHA256SUMS.txt` before flashing.
+            CI builds and host tests verify software behavior, not target hardware.
+            This prerelease has no new physical-board qualification or sensing-accuracy claim.
+            Select the matching board configuration using firmware/esp32-csi-node/README.md.
+          files: release-assets/*

.github/workflows/npm-packages.yml

@@ -41,8 +41,12 @@ jobs:
             build: false
             publishable: true
             # ADR-283/325: brain + local hosts + replay assets + guarded Spaces OAuth adapter;
-            # still runtime-dependency-free. 160 KiB is the reviewed hard ceiling.
-            unpacked_budget: 163840
+            # still runtime-dependency-free. ADR-369..374 add the SDK, firmware
+            # flashing, training runner/gate, doctor, device access, and SSH
+            # hosts. ADR-375 adds the MCP Apps console widget (~12 KB), the
+            # Streamable HTTP transport and the terminal UI (384 KiB); ADR-378 the
+            # ruview-live showcase views (~37 KB): 448 KiB reviewed ceiling.
+            unpacked_budget: 458752
           - dir: harness/homecore
             build: false
             publishable: true
@@ -131,13 +135,19 @@ jobs:
           npm i --no-fund --no-audit "$TGZ"
           case "${{ matrix.package.dir }}" in
             harness/ruview)
-              ./node_modules/.bin/ruview --version
-              ./node_modules/.bin/ruview doctor
+              ./node_modules/.bin/ruview-harness --version
+              ./node_modules/.bin/ruview-harness doctor
               # the honesty gate must fail closed on empty input (ADR-263 F1)
-              if ./node_modules/.bin/ruview claim-check; then
+              if ./node_modules/.bin/ruview-harness claim-check; then
                 echo 'claim-check passed with no input — fail-open regression'; exit 1
               fi
               node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"
+              # ADR-369: the typed SDK resolves and the evidence gate refuses a baseline-free score
+              node --input-type=module -e "const { createRuView } = await import('@ruvnet/ruview/sdk'); const r = createRuView(); if (r.tools().length < 22) process.exit(1); const g = await r.training.gate({ model_score: 0.93 }); if (g.verdict !== 'FAIL') process.exit(1);"
+              ./node_modules/.bin/ruview-harness doctor --json --group runtime,harness,firmware > doctor.json
+              if ./node_modules/.bin/ruview-harness train-gate --model-score 0.93 > /dev/null; then
+                echo 'train-gate passed without a baseline'; exit 1
+              fi
               ;;
             harness/homecore)
               ./node_modules/.bin/homecore --version

.github/workflows/readme-visuals.yml

@@ -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)"

.github/workflows/ruview-device-e2e.yml

@@ -0,0 +1,68 @@
+# ADR-373/374 — device-access end-to-end through the real @ruvnet/ruview CLI.
+# MR60BHA2 (60 GHz) and RPLIDAR are emulated on pseudo-terminals and read via
+# real pyserial; an ESP32 node is emulated over UDP; the iPhone LiDAR path
+# uses the repository's real relay. All results are SYNTHETIC: this proves
+# the transports and parsers, not hardware behaviour.
+
+name: ruview device e2e
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'harness/ruview/src/**'
+      - 'harness/ruview/bin/**'
+      - 'harness/ruview/test/e2e/**'
+      - 'integrations/iphone-lidar/web/**'
+      - '.github/workflows/ruview-device-e2e.yml'
+  pull_request:
+    paths:
+      - 'harness/ruview/src/**'
+      - 'harness/ruview/bin/**'
+      - 'harness/ruview/test/e2e/**'
+      - 'integrations/iphone-lidar/web/**'
+      - '.github/workflows/ruview-device-e2e.yml'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ruview-device-e2e-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  devices:
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          persist-credentials: false
+
+      - uses: actions/setup-node@820762786026740c76f36085b0efc47a31fe5020 # v7.0.0
+        with:
+          node-version: '22'
+
+      - uses: actions/setup-python@ece7cb06caefa5fff74198d8649806c4678c61a1
+        with:
+          python-version: '3.12'
+
+      - name: Install pyserial
+        run: python -m pip install pyserial==3.5
+
+      - name: Install the iPhone LiDAR relay
+        working-directory: integrations/iphone-lidar/web
+        run: npm ci --ignore-scripts
+
+      - name: Install harness
+        working-directory: harness/ruview
+        run: npm ci --ignore-scripts
+
+      # Missing prerequisites fail instead of skipping (RUVIEW_E2E_REQUIRE).
+      # The suite links each emulator pty to /dev/ttyRUVIEWE2E<n> with
+      # `sudo -n`, because the harness refuses /dev/pts/* port names.
+      - name: Device e2e (SYNTHETIC devices)
+        working-directory: harness/ruview
+        env:
+          RUVIEW_E2E_REQUIRE: '1'
+        run: npm run test:e2e:devices

.github/workflows/ruview-harness-flywheel.yml

@@ -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

.github/workflows/ruview-kernel-npm.yml

@@ -0,0 +1,132 @@
+# ADR-368 — @ruvnet/ruview-kernel: build the WASM and napi-rs transports from
+# source on every OS, run the Rust ABI tests, the package unit/security/e2e
+# tests with the native addon REQUIRED, the wasm↔napi parity check, artifact
+# verification, and the cross-package e2e through the @ruvnet/ruview
+# metaharness. No publish step: publication stays CI-only via the release
+# workflow and requires explicit maintainer approval (ADR-265).
+
+name: ruview-kernel npm
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - 'v2/crates/ruview-kernel/**'
+      - 'v2/crates/ruview-kernel-napi/**'
+      - 'v2/crates/wifi-densepose-vitals/**'
+      - 'harness/ruview-kernel/**'
+      - 'harness/ruview/src/kernel.js'
+      - 'harness/ruview/test/kernel.test.mjs'
+      - '.github/workflows/ruview-kernel-npm.yml'
+  pull_request:
+    paths:
+      - 'v2/crates/ruview-kernel/**'
+      - 'v2/crates/ruview-kernel-napi/**'
+      - 'v2/crates/wifi-densepose-vitals/**'
+      - 'harness/ruview-kernel/**'
+      - 'harness/ruview/src/kernel.js'
+      - 'harness/ruview/test/kernel.test.mjs'
+      - '.github/workflows/ruview-kernel-npm.yml'
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ruview-kernel-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  kernel:
+    name: kernel (${{ matrix.os }})
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 45
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    defaults:
+      run:
+        shell: bash
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          persist-credentials: false
+          # The v2 workspace lists submodule crates as members; cargo must be
+          # able to load every member manifest.
+          submodules: recursive
+
+      - name: Install Rust + wasm32 target
+        uses: dtolnay/rust-toolchain@4cda84d5c5c54efe2404f9d843567869ab1699d4
+        with:
+          targets: wasm32-unknown-unknown
+
+      # v2/rust-toolchain pins its own channel; the target must be installed
+      # for that toolchain, not only for the action's default `stable`.
+      - name: Add wasm32 target to the pinned v2 toolchain
+        working-directory: v2
+        run: rustup target add wasm32-unknown-unknown
+
+      - name: Cache cargo
+        uses: Swatinem/rust-cache@e18b497796c12c097a38f9edb9d0641fb99eee32
+        with:
+          workspaces: |
+            v2 -> target
+            v2/crates/ruview-kernel-napi -> target
+
+      - uses: actions/setup-node@820762786026740c76f36085b0efc47a31fe5020 # v7.0.0
+        with:
+          node-version: '22'
+
+      - name: Rust ABI tests
+        run: cargo test --manifest-path v2/Cargo.toml -p ruview-kernel --locked
+
+      - name: Build WASM + napi-rs artifacts from source
+        working-directory: harness/ruview-kernel
+        run: npm run build
+
+      - name: Verify artifacts (checksums, zero WASM imports, ABI)
+        working-directory: harness/ruview-kernel
+        run: node scripts/verify-artifacts.mjs --require-wasm
+
+      - name: Package tests (napi required)
+        working-directory: harness/ruview-kernel
+        env:
+          RUVIEW_KERNEL_REQUIRE_NAPI: '1'
+        run: npm test
+
+      - name: Doctor, self-test, and wasm↔napi parity (SYNTHETIC)
+        working-directory: harness/ruview-kernel
+        run: |
+          node bin/cli.js doctor --strict-napi
+          node bin/cli.js selftest --backend wasm
+          node bin/cli.js selftest --backend napi
+          node bin/cli.js parity
+
+      - name: Pack
+        working-directory: harness/ruview-kernel
+        run: |
+          npm pack --dry-run
+          # Relative destination: Windows runner temp paths contain
+          # backslashes that bash globbing would mangle.
+          mkdir -p dist-pack
+          npm pack --pack-destination dist-pack
+
+      - name: Cross-package e2e through the @ruvnet/ruview metaharness
+        working-directory: harness/ruview
+        run: |
+          npm ci --ignore-scripts
+          npm install --no-save --ignore-scripts ../ruview-kernel/dist-pack/ruvnet-ruview-kernel-*.tgz
+          node --test test/kernel.test.mjs
+          node bin/cli.js kernel --backend auto
+
+      - name: Upload built artifacts
+        if: matrix.os == 'ubuntu-latest'
+        uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1
+        with:
+          name: ruview-kernel-linux-x64
+          path: |
+            harness/ruview-kernel/wasm/ruview_kernel.wasm
+            harness/ruview-kernel/wasm/SHA256SUMS
+            harness/ruview-kernel/native/*.node
+            harness/ruview-kernel/native/SHA256SUMS
+          retention-days: 14

.github/workflows/ruview-npm-release.yml

@@ -104,8 +104,10 @@ jobs:
         run: |
           set -euo pipefail
           case "${{ inputs.package }}" in
-            # ADR-283/325: brain + hosts + replay + guarded Spaces OAuth; no runtime deps.
-            harness/ruview) export UNPACKED_BUDGET=163840 ;;
+            # ADR-283/325/369-374: brain + hosts + replay + Spaces OAuth + SDK,
+            # flashing, training, doctor, device access, SSH hosts; ADR-375 console
+            # widget, HTTP transport, terminal UI; ADR-378 mod showcase; no runtime deps.
+            harness/ruview) export UNPACKED_BUDGET=458752 ;;
             # ADR-285: CLI + MCP + reviewed brain + WASM-kernel adapter.
             harness/homecore) export UNPACKED_BUDGET=180000 ;;
             # ADR-264 O2: map-free tarball (was 188 kB with maps).
@@ -140,12 +142,12 @@ jobs:
           npm i --no-fund --no-audit "$TGZ"
           case "${{ inputs.package }}" in
             harness/ruview)
-              ./node_modules/.bin/ruview --version
-              ./node_modules/.bin/ruview doctor
-              ./node_modules/.bin/ruview guidance --topic homecore --query restore --limit 1 \
+              ./node_modules/.bin/ruview-harness --version
+              ./node_modules/.bin/ruview-harness doctor
+              ./node_modules/.bin/ruview-harness guidance --topic homecore --query restore --limit 1 \
                 | grep -q '"homecore-runtime-restore"'
               # the honesty gate must fail closed on empty input (ADR-263 F1)
-              if ./node_modules/.bin/ruview claim-check; then
+              if ./node_modules/.bin/ruview-harness claim-check; then
                 echo 'claim-check passed with no input — fail-open regression'; exit 1
               fi
               node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"

.gitignore

@@ -17,11 +17,16 @@ firmware/esp32-csi-node/sdkconfig.defaults.bak
 firmware/esp32-hello-world/sdkconfig.old
 
 # Host-built firmware test binaries (compiled from test/*.c, not source)
-firmware/esp32-csi-node/test/test_adr110
-firmware/esp32-csi-node/test/test_vitals
-firmware/esp32-csi-node/test/fuzz_serialize
-firmware/esp32-csi-node/test/fuzz_edge
-firmware/esp32-csi-node/test/fuzz_nvs
+# Compiled host-test and fuzz binaries. The Makefile writes them beside their
+# sources, so they land in a tracked directory. Ignore them by SHAPE rather
+# than by name: every source here carries an extension and no binary does.
+#
+# This replaced a hand-maintained list of five targets, which had gone stale --
+# test_csi_sanitize, test_mmwave_detect and test_thermal were all built by
+# `make host_tests`, ignored by nothing, and got committed by accident.
+firmware/esp32-csi-node/test/test_*
+firmware/esp32-csi-node/test/fuzz_*
+!firmware/esp32-csi-node/test/*.*
 firmware/esp32-csi-node/test/*.exe
 firmware/esp32-csi-node/test/*.obj
 
@@ -317,3 +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

CHANGELOG.md

@@ -7,8 +7,29 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Community batch (PRs #2100-#2157 by aepod, reviewed and integrated)
+
+Integrated as one set: conflicts resolved, review findings fixed, validated on the integrated branch. Hardware figures cited by the PRs are the author's own live runs on ESP32-S3 nodes and were not independently reproduced here.
+
+- **Security and honest status.** Refuse a routable HTTP bind when API auth is off (#2134). `--privacy-mode` now strips biometrics from REST, WebSocket and recordings, not only MQTT (#2125; the stripped-key list is an exact-match allowlist, so a new biometric field must be added to it). `/api/v1/status` waits for a real frame and unknown `--source` values are rejected (#2126; breaking for `--source macos|linux|windows`). A stale `/sensing/latest` reports `{"status":"stale"}` after 10 s (#2119). Measured stream fps and real WebSocket client counts (#2127). Absent nodes no longer count as one person (#2132). ESP32 frames with zero antennas or subcarriers are dropped (#2118). Dead nodes are evicted on a timer (#2120). Recordings and models stay under `--data-dir` (#2129). Boolean env flags accept 1/0/yes/no/on/off (#2108). Docker UDP ingest posture is explicit (#2107).
+- **CSI pipeline.** The grid gate locks on the majority frame shape and `/health` reports a stalled pipeline (#2157; a partial fix, mixed 192/306 frame shapes still drop frames, so it does not close #1894). Phase is combined across nodes only when they declare a shared reference (#2156). Point-cloud and hardware parsers use the ADR-018 layout and accept more than 256 subcarriers (#2155; the bandwidth rule for counts above 64 is CLAIMED, inferred from the datasheet). Per-node adaptive training from real recordings (#2101, #2103); a run that fell back to the live buffer now reports `degraded: true`. Gaussian decay no longer compounds across calls (#2140).
+- **MediaTek (ADR-266/267).** Legacy and unknown PPDU types in MTC1 (#2112), per-device ingest capped at 64 devices (#2113), a labelled amplitude heuristic and activity index (#2114; CLAIMED, not an occupancy estimate), an MT7981 bridge (#2115), and the OpenWrt WN586X3 patch set and guide (#2116; the vendored CSI patch is BSD-3-Clause-Clear, see `NOTICE`).
+- **MQTT / Home Assistant.** Semantic states wired into the publisher, entities announced only when sourced, persisted client id (#2117). Existing Home Assistant installs keep retained discovery configs for the six removed entities until they are cleared manually.
+- **Provisioning and firmware.** Wi-Fi password kept owner-only and out of argv and `--state` (#2153); state keyed by board MAC (#2152); `--dry-run` and a failed `--reset` leave state intact (#2111); OTA images confirmed by a bounded health check, which means only "reached the network and sent CSI" (#2100, ADR-379).
+- **Ground truth and spatial.** Radar window adapter and auto-labeller with a session-disjoint split and a median count baseline; radar labels carry `evidence: CLAIMED` (#2143, #2144). Node self-survey, check-only (#2145, ADR-381). The `spatial.evidence.v1` export defaults to the CODE proof grade and MEASURED requires a reproducer (#2141, ADR-382). Loopback UDP tee (#2102, ADR-380).
+- **Tooling.** `prove.sh` reports INCOMPLETE instead of PASS when a gate is skipped (#2130); ADR-018 capture scripts (#2131); API token on the ground-truth script (#2104); the UI asks for the API token instead of retrying forever (#2128); macOS redacted-link handling (#2105).
+- **Not included:** #2106 (MacWifi.app, draft) and #2142 (MR60 probe change, needs a captured MR60BHA2 boot log). `v2/data/adaptive_model.json` (41.5% training accuracy) is no longer tracked (#2135).
+
 ### Added
 
+- **`@ruvnet/ruview` 0.9.1: live sensing views inside Claude Code (ADR-377, ADR-378).** The package now ships `ruview-live`, a Claude Code mod. Type `/ruview` and a pane opens next to the conversation showing what your sensors see right now, refreshed automatically. It has three views, switched with keys `1` `2` `3` or with `/ruview overview|waterfall|radar`:
+  - **Overview**: the CSI nodes streaming to your machine (rate, packet loss, signal strength) and an optional 60 GHz radar kit (presence, distance, heart and breathing rates).
+  - **CSI waterfall**: the Wi-Fi signal itself, the strength of every subcarrier over time, drawn in colour and scrolling as frames arrive. The new `ruview esp32 --spectrum` option supplies the data.
+  - **Radar**: a top-down range fan with an animated ping out to the measured distance, plus heart, breathing and distance charts.
+
+  Every reading is labelled honestly: MEASURED or SYNTHETIC from the packets themselves; radar vitals as "device-reported, not validated"; range-only radar as "distance, not direction". The pane only reads; it never flashes or configures a device.
+
+  Verified on real hardware: an ESP32-C6 streaming CSI and a Seeed MR60BHA2 radar kit (MEASURED; reproducer `npx @ruvnet/ruview esp32 --seconds 4 --spectrum --json`). The package's size ceiling rises from 384 KiB to 448 KiB; it still has no runtime dependencies.
 - **`wifi-densepose-sar` — coherent wideband RF tomography research crate (ADR-287).** New standalone leaf crate (the `nvsim` pattern; zero coupling to `wifi-densepose-hardware` or any real ingestion path) implementing the synthetic-aperture-radar reconstruction primitive a handheld through-wall RF imaging device would need — motivated by comparison against Applied Electrodynamics' "WaveSight" launch, and explicitly scoped below ADR-278's RISE/DiffRadar/GeRaF reproduction gates. Ships: (1) a stepped-frequency, multi-position complex forward measurement simulator (`y_{m,k} = Σ σ_j/R² · exp(-i·4π·f·R/c) + noise`, deterministic ChaCha20 seeding); (2) delay-and-sum backprojection reconstruction onto a 3D voxel grid, rayon-parallelized over voxels; (3) threshold + local-maximum point-cloud extraction; (4) closed-form range/cross-range resolution and antenna-pose coherence-budget formulas (`ΔR=c/2B`, `δ_CR≈λR/2L`, `Δp≤λ/8`) checked against the reconstruction's *actual* behavior in `tests/physics_validation.rs` rather than merely documented — forward-simulating two targets at controlled separations and proving they resolve or merge exactly where the formulas predict, and that reconstructed focus at a known target degrades as injected antenna-pose error grows. Every number is SYNTHETIC/L0 (ADR-282) — no real wideband RF hardware backs this crate; see the crate README and `docs/tutorials/coherent-rf-tomography-backprojection.md` for the full honesty boundary and a worked walkthrough. `focus_at_point` exploits the evenly-spaced-by-construction frequency sweep (an arithmetic progression in per-term phase) to evaluate each pose's phasor once and advance it by a fixed complex-multiply step per frequency instead of one `sin`/`cos` pair per frequency — **MEASURED ~4.4-4.5x faster** (criterion regression detection, p < 0.001) than the first-shipped direct-computation version, proven equivalent (not just faster) to an independently reimplemented reference across four sweep sizes and on-/off-target points. 25 tests (22 unit + 3 integration), 0 failed, clippy-clean; MEASURED backprojection throughput ~1.7-2.3M voxels/sec (criterion, 21 poses × 32 freq steps).
 - **HOMECORE platform runtime completion — secure native/Wasmtime plugins, authenticated HAP IP, expanded Home Assistant APIs, durable restoration/migration, and voice protocols.** `homecore-server` now owns deterministic compiled-in native plugin registration plus explicitly configured, path-bounded, Ed25519 publisher-verified Wasm packages executed through Wasmtime with setup/state-change/teardown lifecycle; arbitrary native dynamic libraries remain intentionally unsupported. The optional HAP server implements persisted accessory identity and controller records, SRP-6a Pair-Setup M1–M6, X25519/Ed25519 Pair-Verify M1–M4, HKDF-SHA512/ChaCha20-Poly1305 record framing, authenticated/admin endpoint gates, replay/tamper closure, live entity synchronization, and paired-state `_hap._tcp` mDNS updates (45 focused tests; external Apple certification is not claimed). Startup restores device/entity registries and deterministic latest recorder states before plugins, and migration now atomically preserves forward-compatible device/config-entry fields. The HA-compatible surface adds events, templates, config checks, components, registries, history/logbook with SQL-enforced global response bounds, calendar/camera provider routes, and modern WebSocket negotiation while retaining a machine-readable limitations matrix for integration-specific behavior. Assist adds bounded PCM16, async STT/TTS contracts, an end-to-end speech pipeline, and an authenticated satellite session protocol; real deployments still provide the speech engines.
 - **`ruview-unified` increment 3 — Gaussian update-loop completion, separable delay-Doppler, and property-tested boundary hardening.** (1) `GaussianMap::merge_overlapping` (ADR-275 step 5: mutual-Mahalanobis + semantic-compatibility dedup catching drift the insert-time gate misses) and lifetime-aware decay (`τ_eff = τ·(1+ln(1+lifetime/τ))` — confirmed structures outlive transients at equal nominal τ). (2) `delay_doppler_map` reimplemented separably (`O(B²S+S²B)`), proven equivalent to the direct reference to <1e-10 and **measured 8.3× faster** (520 µs vs 4.34 ms at 56×8). (3) `tests/security_boundaries.rs` — 8 `proptest` properties over the boundary surfaces (arbitrary values incl. NaN/±inf via `f64::from_bits`) that found and fixed three input-controlled defects: a BLE-CS phase-unwrap infinite loop on non-finite phases and an ~1e299-iteration loop on finite-huge phases (now O(1) modular unwrap + plausibility bound), and a subnormal Gaussian scale overflowing `1/σ²` to NaN density (now physical σ/occupancy bounds). (4) New criterion benches for all increment-2 hot paths (`to_canonical` 38 µs, `ble_cs_range` 481 ns, AoI planner 647 ns/200 regions, coherent fusion 1.5 µs/32 members, factorized pose 521 ns). ruview-unified now 98 tests (87 lib + 3 acceptance + 8 security), 0 failed, clippy-clean.

NOTICE

@@ -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.

README.md

@@ -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
@@ -37,32 +60,75 @@ Every WiFi router already fills your space with radio waves. When people move, b
 - **Governed evidence** — attach privacy policy, uncertainty, provenance, and witness records to sensing events
 - **RuView MetaHarness** — use an AI operator to onboard, calibrate, train, verify, and check sensing claims
 
+<!-- ruview-capability-cards -->
+<table>
+<tr>
+<td width="50%"><a href="docs/user-guide.md"><img src="assets/readme/feature-presence-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>
 
-The RuView-specific metaharness we created is published as [`@ruvnet/ruview`](harness/ruview/README.md). It provides source-cited guidance, guarded Claude Code/Codex agents, deterministic verification, an honesty check for accuracy claims, and an explicitly granted OAuth-only Cognitum Spaces read.
+The RuView-specific metaharness we created is published as [`@ruvnet/ruview`](harness/ruview/README.md). It provides:
+- source-cited guidance;
+- device access for CSI nodes, radar and LiDAR;
+- firmware flashing with boot evidence;
+- one MCP server, usable over stdio or HTTP for ChatGPT, with a live console widget;
+- a Claude Code mod;
+- guarded Claude Code/Codex agents;
+- deterministic verification;
+- an honesty check for accuracy claims.
+
+Companion packages: [`homecore`](harness/homecore/README.md) (Homecore developer metaharness) and [`@ruvnet/ruview-kernel`](harness/ruview-kernel/README.md) (the vitals pipeline as WASM).
 
 ```bash
 # Check the local setup and get source-cited guidance
-npx @ruvnet/ruview@0.4.0 doctor
-npx @ruvnet/ruview@0.4.0 guidance --topic sensing --query "model loading"
+npx @ruvnet/ruview@0.9.1 doctor
+npx @ruvnet/ruview@0.9.1 guidance --topic sensing --query "model loading"
+
+# Hardware: what is plugged in, live CSI from your nodes, a 60 GHz radar kit
+npx @ruvnet/ruview@0.9.1 devices
+npx @ruvnet/ruview@0.9.1 esp32 --watch                       # ESP32 + Realtek RAC1 nodes, live view
+npx @ruvnet/ruview@0.9.1 esp32 --seconds 45 --analyze        # live CSI through the vitals kernel
+npx @ruvnet/ruview@0.9.1 mmwave --source esphome --host <kit-ip>
+
+# Agents: MCP over stdio, or over HTTP for ChatGPT (token-protected, read tools only)
+npx @ruvnet/ruview@0.9.1 mcp start
+RUVIEW_MCP_GRANTS=device-access npx @ruvnet/ruview@0.9.1 mcp start --http
+
+# Claude Code: a live sensing pane (/ruview), shipped in the package
+npx @ruvnet/ruview@0.9.1 mod
 
 # Run a read-only RuView agent through Codex
-npx @ruvnet/ruview@0.4.0 agent run --host codex --repo . \
+npx @ruvnet/ruview@0.9.1 agent run --host codex --repo . \
   --prompt "Find the nearest tests and cite the source files"
 
-# Search or verify the reviewed contributor brain
-npx @ruvnet/ruview@0.4.0 brain search --query "calibration"
-npx @ruvnet/ruview@0.4.0 brain verify --repo .
-
-# Check claims, replay the deterministic proof, or expose the MCP server
-npx @ruvnet/ruview@0.4.0 claim-check --file REPORT.md
-npx @ruvnet/ruview@0.4.0 verify
-npx @ruvnet/ruview@0.4.0 spaces
-npx @ruvnet/ruview@0.4.0 mcp start
+# Check claims, replay the deterministic proof, search the reviewed brain
+npx @ruvnet/ruview@0.9.1 claim-check --file REPORT.md
+npx @ruvnet/ruview@0.9.1 verify
+npx @ruvnet/ruview@0.9.1 brain search --query "calibration"
 ```
 
-Agent runs are read-only by default. Workspace writes require both `--allow-write` and `--confirm`; retrieved brain content is evidence, not authority.
+**Safety:**
+- Agent runs are read-only by default. Workspace writes require both `--allow-write` and `--confirm`.
+- Hardware reads need the `device-access` grant.
+- Flashing and calibration never run over the HTTP transport.
+- Device-reported vitals are labelled as unvalidated.
+- Retrieved brain content is evidence, not authority.
+
+A single `npx ruview` package bundling all of this is ready (ADR-376). It is waiting on npm to release the unscoped name.
+
+Full walkthrough: [user guide → RuView npm toolkit](docs/user-guide.md#ruview-npm-toolkit-ruvnetruview).
 
 </details>
 
@@ -100,8 +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).
@@ -114,8 +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:
@@ -227,6 +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>
@@ -281,6 +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>
@@ -455,6 +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:
 
 ```
@@ -579,6 +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>
@@ -694,7 +771,13 @@ claude --plugin-dir ./plugins/ruview
 
 Verify the plugin structure: `bash plugins/ruview/scripts/smoke.sh`. Full details: [`plugins/ruview/README.md`](plugins/ruview/README.md).
 
-For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.4.0`; the quick commands and fuller explanation are in the collapsed MetaHarness section near the top of this README and in [`harness/ruview/`](harness/ruview/README.md).
+**Live sensing pane (Claude Code mod):** the same marketplace also lists `ruview-live`, a Claude Code mod.
+- Install it with `/plugin install ruview-live@ruview`, or run `npx @ruvnet/ruview@0.9.1 mod` for its path inside the npm package.
+- `/ruview` opens a pane beside the transcript with your CSI nodes and radar, refreshed on a timer, plus a one-line status.
+- It is read-only.
+- Mods are early access; if `/ruview` is missing, start Claude Code with `CLAUDE_CODE_ENABLE_FUNCTION_HOOKS=1`. See [ADR-377](docs/adr/ADR-377-ruview-live-claude-code-mod.md).
+
+For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.9.1`. The quick commands and a fuller explanation are in the collapsed MetaHarness section near the top of this README, in [`harness/ruview/`](harness/ruview/README.md), and in the [user guide](docs/user-guide.md#ruview-npm-toolkit-ruvnetruview).
 
 </details>
 
@@ -702,6 +785,8 @@ For the portable RuView MetaHarness, use `npx @ruvnet/ruview@0.4.0`; the quick c
 
 ## 📖 Documentation
 
+[![RuView visual guide: header-docs](assets/readme/header-docs-spatial-v4.svg)](docs/user-guide.md)
+
 Start with the user, build, and calibration guides; expand for the full reference map.
 
 <details>
@@ -719,6 +804,8 @@ Start with the user, build, and calibration guides; expand for the full referenc
 | [Semantic Primitives — Precision/Recall](docs/integrations/semantic-primitives-metrics.md) | Per-primitive F1 on the held-out paired-capture set: someone-sleeping, possible-distress, room-active, elderly-inactivity-anomaly, meeting, bathroom, fall-risk, bed-exit, no-movement, multi-room. |
 | [Claude Code / Codex Plugin](plugins/ruview/README.md) | The `ruview` plugin + marketplace — skills, `/ruview-*` commands, agents, and the Codex prompt mirror |
 | [Portable harness — `npx @ruvnet/ruview`](harness/ruview/README.md) | MetaHarness-minted, host-portable RuView operator harness — `ruview.*` MCP tools + the MEASURED-vs-CLAIMED honesty guardrail enforced in code ([ADR-182](docs/adr/ADR-182-npx-ruview-harness-via-metaharness.md)). A lighter, multi-host companion to the in-repo plugin. |
+| [CSI Frame Selection — Measured](docs/csi-frame-selection-measured.md) | Which rate gate actually buys cross-node pairing, measured on a nine-node ESP32-C6 fleet as a 2x2 factorial in three Latin-square blocks. Selecting frames by 802.11 `rx_seq` roughly doubled pairing (+31.7 pp) while mesh-time alignment bought +0.5 pp, inside noise. Includes the trade it makes, a prediction that turned out wrong, the limits of the measurement, and `run_arms.py` so the comparison can be re-run rather than taken on trust. |
+| [ESP32-C6 Firmware Runbook](firmware/esp32-csi-node/RUNBOOK.md) | What to run, in what order, and what to check: the three-file build that keeps OTA rollback compiled in, a five-key pre-flash gate, which flash regions OTA can and cannot reach, a single-board diagnostic flash with a revert path, and the tunables whose right value depends on your house rather than on the chip. |
 | [Architecture Decisions](docs/adr/README.md) | 205 ADRs — why each technical choice was made, organized by domain (hardware, signal processing, ML, platform, infrastructure) |
 | [Domain Models](docs/ddd/README.md) | 8 DDD models (RuvSense, Signal Processing, Training Pipeline, Hardware Platform, Sensing Server, WiFi-Mat, CHCI, rvCSI) — bounded contexts, aggregates, domain events, and ubiquitous language |
 | [rvCSI — edge RF sensing runtime](https://github.com/ruvnet/rvcsi) | Rust-first / TypeScript-accessible / hardware-abstracted CSI runtime: multi-source ingestion (incl. real nexmon_csi `.pcap` from a **Raspberry Pi 5** / Pi 4 / Pi 3B+ — CYW43455 / BCM43455c0) → validation → DSP → typed events → RuVector RF memory ([ADR-095](docs/adr/ADR-095-rvcsi-edge-rf-sensing-platform.md), [ADR-096](docs/adr/ADR-096-rvcsi-ffi-crate-layout.md), [domain model](docs/ddd/rvcsi-domain-model.md)). Now its own repo — [`ruvnet/rvcsi`](https://github.com/ruvnet/rvcsi) — vendored here under `vendor/rvcsi`; 9 `rvcsi-*` crates on crates.io, `@ruv/rvcsi` on npm, plus a Claude Code plugin. |
@@ -741,6 +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.

archive/v1/src/sensing/mac_wifi.swift

@@ -10,6 +10,39 @@ func main() {
         exit(1)
     }
 
+    // One connected-link RSSI sample for the Rust adapter. Keep the legacy
+    // no-argument 10 Hz stream below unchanged for Python callers.
+    if CommandLine.arguments.contains("--scan-once") {
+        guard interface.powerOn(),
+              let channel = interface.wlanChannel(),
+              interface.rssiValue() < 0 else {
+            fputs("WiFi is not connected\n", stderr)
+            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,
+            "rssi": interface.rssiValue(),
+            "noise": interface.noiseMeasurement(),
+            "timestamp": Date().timeIntervalSince1970,
+            "tx_rate": interface.transmitRate()
+        ]
+        do {
+            let data = try JSONSerialization.data(withJSONObject: sample, options: [.sortedKeys])
+            FileHandle.standardOutput.write(data)
+            FileHandle.standardOutput.write(Data([0x0a]))
+        } catch {
+            fputs("Could not encode WiFi sample: \(error)\n", stderr)
+            exit(1)
+        }
+        return
+    }
+
     // Flush stdout automatically to prevent buffering issues with Python subprocess
     setbuf(stdout, nil)
 

assets/readme/cognitum-spatial-v3.svg

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+.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}
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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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+
+
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+
+
+
+
+
+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
+@keyframes breathe{50%{opacity:.4}}
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+@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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assets/readme/header-docs.svg

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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Choose your next step</title><desc id="desc">Animated section heading. GUIDES / HARDWARE / INTEGRATIONS</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}
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+.float{animation:float 5s ease-in-out infinite}
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+.breathe{animation:breathe 4s ease-in-out infinite}
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+.orbit{transform-box:fill-box;transform-origin:center;animation:orbit 18s linear infinite}
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+@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}}
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+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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assets/readme/header-edge-spatial-v3.svg

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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Intelligence at the edge</title><desc id="desc">Animated section heading. SENSORS / FIRMWARE / MODULES</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#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}
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+.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}
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+.spark{animation:spark 3.5s ease-in-out infinite}
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+@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}}
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+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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assets/readme/header-edge-spatial-v4.svg

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+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
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+.float{animation:float 5s 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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+.layer{animation:layer 6s ease-in-out infinite}
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+@keyframes layer{50%{transform:translateY(-5px)}}
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+@keyframes spark{50%{opacity:.25}}
+@keyframes flow{to{stroke-dashoffset:-136}}
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+@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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assets/readme/header-edge.svg

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+<svg xmlns="http://www.w3.org/2000/svg" width="1200" height="148" viewBox="0 0 1200 148" role="img" aria-labelledby="title desc"><title id="title">Intelligence at the edge</title><desc id="desc">Animated section heading. SENSORS / FIRMWARE / MODULES</desc><defs><linearGradient id="wash" x1="0" y1="0" x2="1" y2="1"><stop stop-color="#0b303a"/><stop offset=".55" stop-color="#06171e"/><stop offset="1" stop-color="#030c13"/></linearGradient><linearGradient id="accent"><stop stop-color="#91f6df"/><stop offset="1" stop-color="#26bad7"/></linearGradient><radialGradient id="halo"><stop stop-color="#35d4db" stop-opacity=".17"/><stop offset="1" stop-color="#35d4db" stop-opacity="0"/></radialGradient></defs><style>
+text{font-family:"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}}
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assets/readme/header-evidence-spatial-v4.svg

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assets/readme/nav-agents-spatial-v4.svg

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+
+
+
+
+@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}}
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assets/readme/nav-agents.svg

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+text{font-family:"Avenir Next","Segoe UI",Helvetica,Arial,sans-serif}
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+.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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assets/readme/nav-hardware-spatial-v3.svg

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+@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}}
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assets/readme/nav-hardware-spatial-v4.svg

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+
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+
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+@keyframes layer{50%{transform:translateY(-5px)}}
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+
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+
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+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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assets/readme/nav-hardware.svg

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+@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}}
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+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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assets/readme/nav-home-spatial-v3.svg

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+<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>
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+@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>

assets/readme/nav-home-spatial-v4.svg

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+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
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+@media(prefers-reduced-motion:reduce){*{animation:none!important}}
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assets/readme/nav-home.svg

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+<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>
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+@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>

assets/readme/nav-models-spatial-v3.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}
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+@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}}
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+</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>

assets/readme/nav-models-spatial-v4.svg

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+<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}
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+
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+
+
+
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
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+
+
+
+
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+
+
+@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>

assets/readme/nav-models.svg

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+<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}
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+.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>

assets/readme/nav-seed-spatial-v3.svg

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+<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}
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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)}}
+@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>

assets/readme/nav-seed-spatial-v4.svg

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+text{font-family:"Avenir Next","Segoe UI Variable Display","Segoe UI",Helvetica,Arial,sans-serif}
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+
+
+
+
+
+@keyframes float{0%,100%{transform:translate(0,0)}50%{transform:translate(3px,-10px)}}
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+
+
+
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+
+
+@keyframes layer{50%{transform:translateY(-5px)}}
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+
+
+@keyframes flow{to{stroke-dashoffset:-136}}
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+
+
+@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"><g class="layer" style="animation-delay:-0.0s"><path d="M-38 -23L0 -42L38 -23L0 -4Z" fill="#102749" stroke="#78cfff"/><path d="M-38 -23V-16L0 3L38 -16V-23M0 -4V3" fill="#09172c" stroke="#315685"/></g><g class="layer" style="animation-delay:-0.7s"><path d="M-38 -10L0 -29L38 -10L0 9Z" fill="#102749" stroke="#438fff"/><path d="M-38 -10V-3L0 16L38 -3V-10M0 9V16" fill="#09172c" stroke="#315685"/></g><g class="layer" style="animation-delay:-1.4s"><path d="M-38 3L0 -16L38 3L0 22Z" fill="#102749" stroke="#438fff"/><path d="M-38 3V10L0 29L38 10V3M0 22V29" fill="#09172c" stroke="#315685"/></g><path d="M-12 -31L0 -37L12 -31L0 -25Z" fill="none" stroke="#b8f36c" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><path d="M-26 22V39" fill="none" stroke="#ffb45e" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow"/><path d="M0 22V39" fill="none" stroke="#ffb45e" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow"/><path d="M26 22V39" fill="none" stroke="#ffb45e" stroke-width="1" stroke-linecap="round" stroke-linejoin="round" class="flow"/></g></g><text x="90" y="98" font-size="16" fill="#f3f7ff" text-anchor="middle" font-weight="500" >Cognitum</text><path d="M24 1H156" stroke="url(#accent)" opacity=".55"/><path d="M24 115H156" stroke="#438fff" opacity=".15"/></svg>

assets/readme/nav-seed.svg

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+<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="#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}
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+.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="M0 -38L31 -20V18L0 38L-31 18V-20ZM-31 -20L0 -1L31 -20M0 -1V38" fill="none" stroke="#72eee0" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" /><path d="M-15 1L-5 11L17 -12" fill="none" stroke="#70b6ff" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="trace"/></g></g><text x="90" y="98" font-size="16" fill="#ecfafb" text-anchor="middle" font-weight="500" >Cognitum</text></svg>

assets/readme/nav-start-spatial-v3.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">Start here</title><desc id="desc">Open Start here. 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}
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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>

docker/docker-compose.yml

@@ -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:

docker/docker-entrypoint.sh

@@ -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 \

docs/TROUBLESHOOTING.md

@@ -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

docs/adr/ADR-025-macos-corewlan-wifi-sensing.md

@@ -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.
+

docs/adr/ADR-029-ruvsense-multistatic-sensing-mode.md

@@ -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) |

docs/adr/ADR-115-home-assistant-integration.md

@@ -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.*

docs/adr/ADR-266-mediatek-filogic-csi-platform.md

@@ -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/)

docs/adr/ADR-267-mediatek-mimo-csi-wire-protocol.md

@@ -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`.

docs/adr/ADR-323-rtl8721dx-ameba-csi-wire-protocol.md

@@ -0,0 +1,218 @@
+# ADR-323: RTL8721Dx (Realtek AmebaDplus) CSI Wire Protocol
+
+- **Status**: accepted
+- **Date**: 2026-09-15
+- **Deciders**: RuView maintainers
+- **Tags**: realtek, ameba, amebadplus, rtl8721dx, csi, protocol, rust, udp
+
+## Context
+
+Unlike the MediaTek/Qualcomm CSI paths (ADR-266..269), which are simulator-first
+because no supported public vendor interface exports complex CSI, Realtek's
+official Ameba RTOS SDK (`Ameba-AIoT/ameba-rtos`, Apache-2.0) documents and
+exposes a real, callback-driven CSI API for the RTL8721Dx ("AmebaDplus")
+family: `wifi_csi_config()` plus the `RTW_EVENT_CSI_DONE` event delivering a
+`struct rtw_event_csi_report_info` (per-tone signed I/Q, 8-bit or 16-bit
+precision, selectable tone decimation, passive or active/triggered capture).
+This has been confirmed directly against SDK source
+(`component/wifi/api/wifi_api_event.h`) and against the official
+`example/wifi/wifi_csi` example, and validated on real PKM8721DAF-C13-F10
+hardware (build+flash+boot confirmed on branch `feat/rtl8721dx-csi-bringup`).
+
+The RTL8721Dx is a 1x1 WiFi 4 part — single TX/RX chain, not MIMO — so the
+MediaTek/Qualcomm wire format (Tx/Rx dimensioned matrices, chipset chain
+counts) does not fit. The vendor SDK's raw struct is also not a safe host
+wire format as-is: it has no CRC, a C flexible-array-member payload, and
+fields sized for firmware convenience (e.g. a wrapping `u32` microsecond
+timestamp) rather than network robustness.
+
+Per the existing repo convention (ESP32/ADR-018, MediaTek/ADR-266-267,
+Qualcomm/ADR-268-269, RTL8720F radar/ADR-263-264), each vendor CSI/radar
+source gets its own self-delimiting envelope and its own Rust module pair
+(`wifi-densepose-hardware` for framing+codec+simulator,
+`wifi-densepose-sensing-server` for the bounded JSON-safe snapshot), never a
+shared "generic vendor CSI" struct that would either lose vendor-specific
+fields or invite magic-space collisions. `SourceKind::Realtek` (value 2) is
+already assigned to the RTL8720F FMCW radar path (ADR-263/264) and must not
+be reused for CSI.
+
+## Decision
+
+Define `RAC1` ("Realtek Ameba CSI", version 1) as a little-endian,
+self-delimiting envelope, magic `0x3143_4152` (distinct from `MTC1`
+`0x3143544d`, `QCS1` 0x31535143, `RTR1` 0x31525452, and all ADR-018
+`0xC511000x` siblings):
+
+Fixed 49-byte header (explicit field-by-field serialization, no `#[repr(C)]`
+padding, matching the MediaTek/Qualcomm modules' style):
+
+| Field | Type | Notes |
+|---|---|---|
+| magic | u32 LE | `0x3143_4152` |
+| version | u8 | 1 |
+| header_len | u16 LE | 49 |
+| frame_len | u32 LE | header + payload + 4-byte CRC |
+| node_id | u8 | disambiguates multi-board illuminator/receiver deployments; 0 = unset |
+| csi_mode | u8 | 0=passive, 1=active, 2=board-to-board (`CsiMode`) |
+| sequence | u32 LE | from firmware `csi_sequence` |
+| timestamp_us | u32 LE | from firmware `hw_assigned_timestamp` (hardware-clock microseconds, wraps ~71 min — consumers must not assume monotonic across a capture longer than that) |
+| peer_mac | [u8; 6] | firmware `mac_addr` |
+| trig_mac | [u8; 6] | firmware `trig_addr` |
+| channel | u8 | operating channel |
+| bandwidth | u8 | 0=20MHz, 1=40MHz |
+| rx_rate | u8 | firmware `rx_rate` |
+| protocol_mode | u8 | 0=OFDM,1=HT,2=VHT,3=HE (`ProtocolMode`) |
+| num_sub_carrier | u16 LE | tone count in payload |
+| num_bit_per_tone | u8 | 16 (8-bit I + 8-bit Q) or 32 (16-bit I + 16-bit Q) |
+| decimation | u8 | tone group (1/2/4/8 — every Nth tone) |
+| rssi_dbm | i8 | single RF chain (1x1 hardware) |
+| rxsc | u8 | sub-20 MHz channel used |
+| csi_valid | u8 | 0/1 from firmware |
+| flags | u8 | bit 0 = SYNTHETIC (simulator provenance, never clearable downstream) |
+| payload_len | u32 LE | bytes, == `num_sub_carrier * (num_bit_per_tone / 8)` |
+
+Payload: `num_sub_carrier` consecutive (I, Q) tone pairs, each
+`num_bit_per_tone / 16` bytes per component (1 byte/component when
+`num_bit_per_tone == 16`, 2 bytes/component little-endian signed when `== 32`)
+— i.e. exactly the byte layout the firmware already produces in
+`csi_data[]`, just framed. CRC-32/IEEE over header+payload, final 4
+little-endian bytes. One envelope per UDP datagram.
+
+Parsers reject: unknown version, wrong `header_len`, `frame_len` exceeding
+the IPv4 UDP payload cap (65,507 bytes), `num_bit_per_tone` outside
+`{16, 32}`, `payload_len` inconsistent with `num_sub_carrier *
+(num_bit_per_tone/8)`, trailing bytes, and bad CRC — mirroring the
+MediaTek/Qualcomm parser contract exactly.
+
+Host side: add `realtek_csi.rs` to both
+`wifi-densepose-hardware` (frame + codec + simulator, mirroring
+`mediatek_csi.rs`/`qualcomm_csi.rs`) and `wifi-densepose-sensing-server`
+(bounded `RealtekCsiSnapshot`, mirroring `QualcommCsiSnapshot`), wired into
+the same UDP listener loop and `/api/v1/csi/realtek/latest` route as the
+existing vendor sources. The initial Mac compatibility port keeps Realtek CSI
+as a separate bounded diagnostic stream. Fresh ESP32 frames remain the primary
+sensing source. This change does not add `SourceKind::RealtekCsi` to a signed
+ingest contract; that requires a separate reviewed identity-bound hardware
+proof. RAC1 CRC checks corruption, not origin.
+
+Firmware side (`example/wifi/wifi_csi` derivative, built against the
+official Ameba RTOS SDK, tracked outside this repository per the existing
+`CLAUDE.local.md` convention — the vendor SDK itself is never vendored into
+this repo): join the board to the deployment's WiFi AP in STA mode
+(passive CSI against the real AP as peer, since only one physical board is
+available in this bring-up), read the AP's BSSID at runtime after
+association (never hardcode a MAC into firmware source), pack each
+`RTW_EVENT_CSI_DONE` report into one `RAC1` datagram, and `sendto()` it over
+UDP to the host sensing-server's existing CSI port.
+
+## Consequences
+
+### Positive
+
+- CSI is real, MEASURED hardware output from day one — no simulator-first
+  bridge phase is needed the way MediaTek/Qualcomm required, because the
+  vendor SDK genuinely exposes the capability and we have the board in hand.
+- One board is sufficient for a first useful signal (passive CSI against the
+  home AP); active and board-to-board modes are additive later without a
+  wire-format break (`csi_mode` already reserves the values).
+- Reuses the bounded UDP parser and status-route pattern without changing
+  existing ESP32 sensing. Unsigned RAC1 diagnostics are not authorized as
+  calibrated presence, person count, pose, or vital evidence.
+
+### Negative
+
+- 1x1 hardware means no spatial (multi-antenna) diversity from a single
+  board; multi-board deployment is required for the differential/localization
+  use cases described in the original RTL8721Dx capability analysis.
+- The 71-minute microsecond timestamp wraparound (inherited from the
+  firmware's `u32` field) means long unattended captures need host-side
+  sequence-based reordering, not raw timestamp arithmetic, across a wrap.
+
+### Neutral
+
+- The RAC1 envelope intentionally does not carry the SDK's raw
+  `csi_signature` (0xABCD) marker — our own `magic`/CRC supersede it as the
+  framing integrity check.
+
+## Hardware gates
+
+- [x] Confirm SDK source exposes `RTW_EVENT_CSI_DONE` / `rtw_event_csi_report_info` (done — `component/wifi/api/wifi_api_event.h`).
+- [x] Build and flash a baseline image on real PKM8721DAF-C13-F10 hardware, confirm boot over serial (done — `feat/rtl8721dx-csi-bringup`).
+- [x] Flash the CSI-streaming firmware and confirm `RAC1` datagrams parse on the host from the real board (done, 2026-09-15 — see below).
+- [x] Record MEASURED throughput/latency/jitter from the real running firmware (done, 2026-09-15 — see below).
+- [ ] A human walk-test across the link (amplitude perturbation vs. static baseline) is deferred — requires the operator physically present; not claimed until performed.
+
+### MEASURED: real RAC1 capture and sustained throughput (2026-09-15)
+
+Passive CSI (`RTW_CSI_MODE_NORMAL`, `RTW_CSI_TRIG_BEACON | RTW_CSI_TRIG_DATA | RTW_CSI_TRIG_QOS_DATA`)
+against the deployment AP. A single `RAC1` datagram was first
+cross-checked field-by-field against the firmware's own serial log of the
+same report — every byte matched: magic `0x31434152`, RSSI byte exact match,
+channel/bandwidth/protocol/subcarrier-count exact match, 157-byte total frame
+(49-byte header + 104-byte payload + 4-byte CRC, exactly as specified above).
+
+`RTW_CSI_MODE_RX_RESP` (estimate CSI from ACKs to the STA's own transmissions)
+never fired `RTW_EVENT_CSI_DONE` across two full test runs with confirmed
+real traffic (not a hang) — this mode does not work for this hardware/AP
+combination and `RTW_CSI_MODE_NORMAL` with beacon+data triggers is the
+working configuration.
+
+**An earlier note here claimed `NORMAL` mode fires only once per CSI enable
+— that was wrong**, caused by a debug log line gated to print only every
+50th frame (`frame_count % 50 == 1`), which was misread as "only one report
+total." A follow-up capture with a UDP listener running concurrently with a
+board reset measured **277 real RAC1 datagrams in 40 seconds (43,489 bytes)**,
+with `csi_sequence` climbing continuously and monotonically in the firmware's
+own serial log across six separate 50-frame log checkpoints in one 45s
+session — CSI reporting is continuous, roughly 7-12 fps, not sparse.
+
+### MEASURED: throughput optimization pass (2026-09-15)
+
+Formalized as a repeatable tool: `scripts/benchmark-rtl8721dx-csi.py` (listens
+on the sensing-server's CSI UDP port, reports fps/throughput/RSSI/inter-frame
+interval/sequence-gap stats from real received `RAC1` datagrams).
+
+**Baseline** (`trig_period=200` [64ms], `trig_frame_ctrl=0`,
+`CSI_REPORT_BUF_NUM=1`), 30s capture:
+
+| Metric | Value |
+|---|---|
+| RAC1 fps | 14.67 |
+| Throughput | 2,302.7 bytes/s |
+| Mean inter-frame interval | 68.3 ms |
+| RSSI | mean -34.4 dBm |
+
+`trig_period` (units of 320µs) was hypothesized as the rate-limiting
+throttle — the observed 68.3ms mean interval tracks the 64ms configured
+period almost exactly. Confirmed by tuning:
+
+1. `trig_period`: 200 → 15 (the SDK doc's stated minimum recommended value,
+   ~4.8ms)
+2. `trig_frame_ctrl`: 0 → `RTW_CSI_TRIG_ACK` (second trigger source: every
+   link-layer ACK the AP sends for the heartbeat's own outgoing traffic, on
+   top of the existing beacon trigger)
+3. `CSI_REPORT_BUF_NUM`: 1 → 4 (a "lack of csi buf!" drop was observed even
+   at the slower baseline rate; more headroom needed at a higher rate)
+
+**Tuned**, 30s capture:
+
+| Metric | Value | vs. baseline |
+|---|---|---|
+| RAC1 fps | 66.40 | **4.5x** |
+| Throughput | 10,424.8 bytes/s | **4.5x** |
+| Mean inter-frame interval | 14.9 ms | 4.6x lower |
+| Sequence gaps | 78 / ~2036 (~3.8%) | new (0 observed at the slower baseline rate) |
+| RSSI | mean -31.1 dBm | (different session/position, not a controlled variable here) |
+
+The `trig_period` hypothesis is confirmed as the primary lever. The ~3.8%
+frame-loss rate at 66 fps is a reasonable place to stop for now — it is
+UDP-over-WiFi loss, not a firmware defect, and is small enough not to block
+downstream sensing use; revisit only if a use case needs stronger delivery
+guarantees (sequence-gap-triggered re-request, TCP fallback, etc.).
+
+## Links
+
+- [ADR-266](ADR-266-mediatek-filogic-csi-platform.md) / [ADR-267](ADR-267-mediatek-mimo-csi-wire-protocol.md) — sibling vendor CSI ADR pair (simulator-first precedent)
+- [ADR-268](ADR-268-qualcomm-atheros-csi-platform.md) / [ADR-269](ADR-269-qualcomm-csi-wire-protocol.md) — sibling vendor CSI ADR pair
+- [ADR-263](ADR-263-rtl8720f-2-4ghz-fmcw-radar-platform.md) / [ADR-264](ADR-264-rtl8720f-radar-wire-protocol.md) — existing Realtek (RTL8720F radar) path; `SourceKind::Realtek` owner
+- `CLAUDE.local.md` — RTL8721Dx toolchain setup, board/COM port, first bring-up log

docs/adr/ADR-345-per-link-csi-and-node-to-node-ranging.md

@@ -0,0 +1,193 @@
+# ADR-345: Per-link CSI attribution and node-to-node ranging
+
+- **Status**: Proposed — measurement layer implemented and validated on hardware; localization not built
+- **Date**: 2026-08-28
+- **Deciders**: Joe
+- **Tags**: csi, wire-format, esp32-c6, localization, adr-018, adr-060, adr-110
+
+## Context
+
+Every attempt at device-free position estimation in this repository has failed
+against the same wall, and the wall has now been measured twice from different
+directions.
+
+**Phase is unusable.** The bistatic tier needed a signed per-link radial
+velocity, which requires the common-mode component of CSI phase. Measured
+2026-08-28 across all three ESP32-C6 nodes over ~40,000 frames, the
+frame-to-frame change in common-mode phase is statistically indistinguishable
+from uniform random — resultant length `R` = 0.011–0.032 against a 0.000
+reference, standard deviation 1.78–1.81 against `pi/sqrt(3)` = 1.814, and no
+lag-1 autocorrelation. A second, unwrap-free estimator agreed. The mechanism is
+packet-detection timing quantization: common-mode phase is `-2*pi*f_c*tau`, and
+one ADC sample of jitter at 20 MHz is `2*pi * 2.412e9 * 50e-9` ~= 758 rad, about
+120 full wraps, re-randomized every packet. Not calibratable. The bistatic tier
+is default-off as a result (`bistatic_tier_enabled`).
+
+**Amplitude works but had no parallax.** The three AP -> node links leave a
+single distant transmitter within a 36.5 degree fan and converge on the node
+cluster. Bearings computed from `room_config.json`: 198.5, 221.2, 235.0 degrees.
+Scalar per-node energy weighting was closed with a clean negative result on
+2026-08-27 — magnitude responds to proximity, direction does not.
+
+**The receivers were hearing far more than we recorded.** A node in promiscuous
+MGMT+DATA mode with no `filter_mac` produces CSI for every transmitter on the
+channel. Measured on node 2: the AP accounted for only **34%** of frames; the
+two peer nodes supplied 39% and 27%. Those peer frames are valid measurements
+of *node-to-node* channels — but ADR-018's wire format carries no transmitter
+address, so the sink could not attribute them. They interleaved into one
+`frame_history` with mixed geometry, and the only available remedy
+(`filter_mac`, ADR-060) fixes the mixing by discarding ~75% of the data.
+
+The node-to-node links between the same three boards cross the room from three
+sides at **108.7 degrees** of angular spread (bearings 0.0, 73.2, 108.7) versus
+36.5 for the AP links — roughly 3x the parallax, with both endpoints known,
+fixed, and under our control rather than wherever the router happens to live.
+Link count also grows as `N*(N-1)/2`: 3 nodes give 3 links, 6 give 15, 13 give
+78.
+
+## Decision
+
+Carry the transmitter MAC on the CSI wire and model CSI per **link**
+(receiver, transmitter) rather than per **node**, as a layer alongside the
+existing per-node model.
+
+### 1. Wire format v2
+
+`CSI_MAGIC_V2 = 0xC5110008`, header 26 bytes: the v1 header unchanged through
+byte 19, then the transmitter address (`info->mac`, 802.11 addr2) at bytes
+20..25, with I/Q from byte 26.
+
+`0xC5110002`..`0xC5110007` were already claimed by the vitals, feature and other
+edge packets, so v2 takes the next free value rather than an adjacent one — see
+`issue_928_magic_collision_tests` for why that matters. The parser accepts both
+magics, so a mixed fleet keeps working and v1 nodes simply report no
+transmitter.
+
+### 2. Per-link state (`links.rs`)
+
+`LinkTable` keyed by `LinkId { rx_node, tx_mac }`, each link holding its own
+amplitude history, RSSI EMA, learned resting baseline and motion metric.
+
+The metric is the mean over subcarriers of the temporal standard deviation of
+**AGC-normalized** amplitude. Removing each frame's own mean across subcarriers
+is essential rather than cosmetic: the ESP32 applies automatic gain control per
+packet, so absolute amplitude jumps between packets for reasons unrelated to the
+channel, and any statistic built on the raw level measures the radio's gain
+control instead of the room.
+
+Amplitude only, deliberately — nothing here can depend on phase coherence.
+
+### 3. Beacon rate
+
+`BEACON_PERIOD_MS` 100 -> 20. At 10 Hz a peer samples a node-to-node link with a
+5 Hz Nyquist while motion Doppler lives at 1–20 Hz; it aliases before it starts.
+20 ms matches both the receiver's own `CSI_MIN_PROCESS_INTERVAL_US` ceiling and
+the gateway self-ping already used for the AP link.
+
+### 4. `GET /api/v1/links` and a live UI panel
+
+The link table was initially reachable only through a 30-second log line, which
+is the wrong medium for a quantity whose value is watching it respond while you
+walk across the room. `GET /api/v1/links` returns one row per link — `motion`,
+`raw_motion`, `rssi_dbm`, `frames`, `kind` — and `LinkMeshPanel` renders them in
+the Sensing tab at 1 Hz. `raw_motion` is shown beside `motion` deliberately: a
+link whose baseline has not settled reports a healthy raw value and a near-zero
+motion, and with only the one number that is indistinguishable from a dead link.
+
+Node identity is **inferred, not measured**. Nothing in the system records a
+node's own MAC — a node reports the addresses it hears, never its own. But a
+radio does not receive its own transmissions, so given the set of receivers
+currently reporting, a transmitter heard by all of them except exactly one is
+that one receiver's own board; a transmitter heard by every receiver is external
+infrastructure. `links::infer_transmitting_node` declines (returns `None`) with
+fewer than three receivers, where "heard by all but one" and "heard by exactly
+one" are the same observation, and whenever more than one receiver is missing,
+which a peer out of range produces indistinguishably. The field is named
+`tx_node_inferred` and the UI draws the peer id with a trailing `?`.
+
+Checked against the known MAC map on 2026-08-28 the inference labelled all four
+transmitters correctly — nodes 0, 1 and 2 by address, and the AP as external —
+with no access to that map. A wrong answer here mislabels a display row; it
+never reaches a metric.
+
+## Consequences
+
+### Validated on hardware, 2026-08-28
+
+All three nodes on wire v2 at 20 ms produced the full mesh: **9 links** (3 AP +
+6 directional node-to-node).
+
+Reciprocity — each physical channel measured independently from both ends:
+
+| channel | direction A | direction B | ratio |
+|---|---|---|---|
+| 0 <-> 1 | 2.229 | 1.930 | 1.15 |
+| 0 <-> 2 | 1.353 | 1.000 | 1.35 |
+| 1 <-> 2 | 1.398 | 1.486 | 1.06 |
+
+Nothing in the implementation enforces this. Three independent radio pairs
+agreeing within 6–35% is the strongest available evidence that the per-link
+separation is real rather than an artifact of frame bucketing.
+
+Link quality is also far more uniform than the AP links: node-to-node raw motion
+spans 1.0–2.2 across all six, versus 3.8–17.8 for the three AP links (which
+track RSSI: -67, -72, -80). Uniform link quality is desirable for tomographic
+localization — no single link dominates the solution.
+
+### Known limitations
+
+- **Peer links are ~10x weaker.** A 16-byte ESP-NOW beacon offers far less
+  energy to estimate a channel response from than a full data frame. Whether
+  1.0–2.2 perturbation is sufficient to localize with is **unknown and untested**.
+- **Three links is below threshold.** Tomographic localization needs many
+  crossing links; 3 will not localize regardless of quality. This ADR delivers
+  the measurement layer, not localization.
+- **Localization is not implemented.** No position tier consumes `LinkTable`.
+  The live position estimate remains `doppler_centroid`.
+- **Per-node path regression.** Removing `filter_mac` to admit peer frames
+  returned the *per-node* `frame_history` to a mixed-transmitter stream, since
+  it still consumes every frame regardless of source. Node 2's classification
+  signal is noisier as a result. The fix is to select a link to feed the
+  per-node path — software filtering that keeps the other links — and it is not
+  yet done.
+
+### Scaling limits to settle before more nodes
+
+- **Airtime.** Every node broadcasts, so N nodes put N/period frames per second
+  on the channel being sensed. 3 nodes at 20 ms is 150 pps; 13 would be 650 pps.
+  `BEACON_PERIOD_MS` should become an NVS setting scaled to fleet size.
+- **`MAX_LINKS` is 64.** 13 nodes give 78 receiver-transmitter pairs plus the AP
+  plus neighbours, which overflows. Raise deliberately, with the memory implied.
+- **Placement.** Links must *cross* the target area. Nodes spread through a
+  house give roughly one link per room, each attenuated by walls and perturbed
+  by anyone anywhere along it — whole-house coarse presence, not position.
+  Perimeter placement around a single room is the geometry that works.
+
+## Related bugs found and fixed while implementing
+
+- **ADR-060 MAC filtering cost ~75% of capture rate.** The 50 Hz rate gate ran
+  *before* the MAC filter and stamped `s_last_process_us` before the check, so a
+  frame from any other transmitter consumed the slot and was then discarded.
+  Enabling `filter_mac` dropped yield from ~42 pps to 6–13. Filtering first
+  restores it (measured 31–37 pps). A 6-byte `memcmp` is negligible ISR work next
+  to the CSI processing the gate guards.
+- **The entire edge pipeline was dead on ESP32-C6.** `EDGE_MAX_SUBCARRIERS` was
+  128, an S3-era assumption; a C6 on an HE-capable AP delivers HE20 frames with
+  256 bins, and `process_frame` rejected every one. ADR-110 onboarded the C6 to
+  the capture path but not this one. Vitals, presence, fall detection and
+  per-slot counting had never run on these boards. Now target-conditional on
+  `CONFIG_SOC_WIFI_HE_SUPPORT`, with the four subcarrier-sized arrays hoisted to
+  static so peak stack is *lower* than it was at 128.
+- **A target-conditional constant that failed silently.** `edge_processing.h`
+  had no `#include` at all, so `CONFIG_SOC_WIFI_HE_SUPPORT` was undefined and
+  `#if` evaluated it as 0 — selecting the wrong size with no warning. An
+  undefined identifier in `#if` is 0 in C. This is the same failure mode as the
+  bug it was fixing, one layer up.
+
+## References
+
+- `v2/crates/wifi-densepose-sensing-server/src/links.rs` — per-link state, 8 tests
+- `v2/crates/wifi-densepose-sensing-server/src/phase_diag.rs` — the phase measurement
+- `firmware/esp32-csi-node/main/csi_collector.c` — wire v2 serialization, filter ordering
+- `firmware/esp32-csi-node/main/edge_processing.h` — `EDGE_MAX_SUBCARRIERS`
+- ADR-018 (wire format), ADR-060 (MAC filtering), ADR-110 (C6 onboarding)

docs/adr/ADR-355-local-empty-room-bootstrap-prior.md

@@ -0,0 +1,134 @@
+# ADR 355: Local empty room bootstrap prior
+
+Status: Accepted
+
+Date: 2026-09-04
+
+## Context
+
+Most installations are occupied when RuView first starts. An uncalibrated
+signal heuristic can interpret HVAC, clock error, neighboring motion, or a
+short covariance window as a person. It can also surface plausible numeric
+vitals before a room model establishes occupant attribution.
+
+One empty home is not representative training data for all homes and contains
+no positive human examples. It is useful only as a recent negative prior for
+the same installation. It cannot define a universal human signal model.
+
+The field model was memory only. The server also used a relative `data/`
+directory, which is unreliable for embedded application hosts.
+
+## Decision
+
+RuView may persist a completed empty room field model as a local bootstrap
+prior only after two server controlled stages:
+
+1. Normal calibration reaches both 1,000 accepted frames and 600 seconds.
+   The frame target represents twenty complete fifty frame runtime windows.
+   A caller may select one currently live ESP32 source. The server checks its
+   freshness before replacing an active bootstrap prior, binds collection to
+   that source, and rejects frames from other radios. When no source is
+   selected, the first accepted ESP32 source preserves legacy behavior.
+2. Promotion observes 12 new samples spaced by at least one second. Each
+   sample has a four second bounded acquisition timeout. At least 10 must
+   resolve empty, all ticks must be fresh, and none may publish numeric vital
+   signs.
+
+The stored image contains aggregate means, environmental modes, mode energies,
+noise statistics, sorted scalar residual references, configuration, one source
+node ID, and a server generated model ID. It excludes raw CSI, waveforms,
+device addresses, room names, pose, identity, credentials, and positive human
+labels. Runtime matching compares a fifty frame mean with the learned residual
+distribution. Its score is empirical background conformance, not an absence
+probability.
+
+The image is bound to a SHA 256 digest of the stable installation ID, carries
+an integrity digest over the exact stored payload bytes, is capped at 1 MiB,
+and inherits the field model expiry.
+Files with an invalid schema, dimensions, values, node set, installation
+binding, digest, size, or lifetime fail closed.
+
+Restoring an image creates a field model in `bootstrap_only` mode. It may
+reduce an uncalibrated false person count, but it cannot authorize calibrated
+evidence or numeric heart and breathing rates. Explicit calibration replaces
+it with fresh statistics. Cancelling an unfinished capture restores a valid
+prior. Administrator scoped reset removes it.
+
+A restored image may receive one operator confirmed held out empty refinement.
+The server measures 12 fresh, source bound runtime residuals at one second
+spacing and requires zero stale samples and zero numeric vital samples. It
+persists only the scalar residuals. The new boundary is the larger of the
+existing threshold and 110 percent of the held out 95th percentile, capped at
+125 percent of the prior threshold. The one use marker persists in the model,
+so repeated requests cannot ratchet the threshold upward.
+
+The status endpoint reports the learned runtime window, residual threshold,
+reference count, current background conformance, and the negative only
+authority boundary. A restored model never resumes collection and never
+persists raw calibration frames.
+
+The server accepts `--data-dir` or `RUVIEW_DATA_DIR`, allowing an application
+host to provide a protected state directory.
+
+## Consequences
+
+Startup can use recent measured background structure instead of only generic
+heuristics. No accuracy lift is claimed until occupied and empty held out data
+from multiple installations is recorded.
+
+The largest failure mode is overfitting to a temporarily quiet home and
+suppressing a weak occupant. Controls are low authority, 24 hour expiry,
+installation binding, vital abstention, explicit recalibration, and reset.
+
+A human signal model still requires positive, consented, leakage separated
+occupied sequences. Empty data is never relabeled as human training.
+
+## Implementation
+
+1. `wifi-densepose-signal::ruvsense::field_model` exports and validates
+   `FieldModelSnapshotV1`.
+2. `wifi-densepose-sensing-server::bootstrap_baseline` owns schema, integrity,
+   storage, lifetime, and the held out gate.
+3. `POST /api/v1/calibration/bootstrap/promote` measures the validation window
+   and stores the image only on pass.
+4. `GET /api/v1/calibration/status` reports bootstrap authority and explicitly
+   denies calibrated evidence and numeric vital authority.
+5. Numeric vitals fail closed unless an explicit fresh calibration resolves
+   exactly one occupant at sufficient signal quality and confidence.
+6. The legacy `edge_vitals` WebSocket message applies the same publication
+   gate as `sensing_update`. When the bootstrap background matches, it emits
+   absent state, zero people, null numeric rates, and an explicit abstention
+   reason instead of forwarding raw edge candidates.
+7. `POST /api/v1/calibration/start?source_node_id=N` selects a live source for
+   deterministic single link capture. A missing or stale selection fails
+   without disabling the active bootstrap prior.
+8. `POST /api/v1/calibration/bootstrap/refine?confirmed_empty=true&source_node_id=N`
+   performs the bounded one time held out refinement. It requires administrator
+   authority when transport authentication is enabled.
+
+## Measured installation evidence
+
+One physical empty home run on source Node 5 collected 1,762 accepted frames
+over 655 seconds and produced 35 privacy reduced reference windows. Promotion
+observed 12 of 12 fresh empty samples, zero stale samples, and zero numeric
+vital samples. After process restart, 12 of 12 fresh samples matched the empty
+background and contained no numeric vital signs. Background conformance scores
+ranged from 50.0 to 64.3 percent with a median of 54.3 percent.
+
+This is measured negative evidence for one installation. No occupied positive
+holdout was recorded, so it does not prove person recall, person counting, or
+cross home accuracy improvement.
+
+## Acceptance test
+
+With a physically empty room, complete calibration on stable nodes, promote
+the single source model, and restart the server with the same installation ID
+and data directory. Status must report `binding_mode=bootstrap_only`, zero
+collection frames, and false authority for calibrated evidence and numeric
+vitals. Twelve fresh empty samples must contain no numeric vital signs.
+Starting a new room calibration must replace the prior and begin at frame zero.
+When several radios are live, selecting Node 5 must leave Nodes 3 and 7 out of
+the source set for the entire capture.
+After restart, a confirmed empty holdout may refine the restored boundary once.
+The stored snapshot must reject a second refinement and must continue to deny
+calibrated evidence and numeric vital authority.

docs/adr/ADR-356-rate-truthful-csi-and-reliability-gated-adaptation.md

@@ -0,0 +1,151 @@
+# ADR 356: Rate truthful CSI and reliability gated room adaptation
+
+Status: Accepted
+
+Date: 2026-09-05
+
+## Context
+
+RuView mixed three different notions of time. ESP32 firmware requested a packet
+rate, the server observed a delivered rate, and several server paths still used
+fixed 2 Hz, 10 Hz, or 20 Hz assumptions. One feature named
+`dominant_freq_hz` was not a temporal frequency at all. It was the index of the
+strongest subcarrier multiplied by 0.05. A second defect compared a newly
+inserted frame with itself, forcing that motion delta to zero.
+
+These errors can move a spectral peak into the breathing or heartbeat band and
+produce plausible but false values. They also make models sensitive to WiFi
+traffic and processor scheduling rather than physical motion.
+
+ESP-IDF documents that `wifi_csi_info_t.first_word_invalid` marks the first four
+CSI bytes invalid because of a hardware limitation. It also documents that the
+CSI receive callback runs in the WiFi task and should hand work to a lower
+priority task rather than perform lengthy processing. RuView serialized the
+invalid bytes unchanged and fed the original buffer to edge processing.
+
+Recent work suggests four useful directions with different maturity:
+
+1. OpenCSI represents each link as a dimensionless residual against its own
+   quiet period temporal standard deviation and exposes baseline maturity. Its
+   reported transfer results are limited to binary presence.
+2. MORIC derives motion centered delay and Doppler views to reduce dependence
+   on static environment specific CSI structure.
+3. Parameter efficient CSI crowd counting combines self supervised pretraining,
+   small room adapters, and a stateful counting machine.
+4. WiFi JEPA masks complete radio links and predicts their latent embeddings,
+   using real and ray traced CSI for pose representation learning.
+
+The papers report promising external results. None is measured RuView evidence,
+and none authorizes deployment without leakage free occupied and empty held out
+evaluation.
+
+## Decision
+
+### Firmware ingestion
+
+1. When ESP-IDF marks the first CSI word invalid, zero the first four serialized
+   CSI bytes while retaining the fixed packet shape.
+2. Set ADR-018 byte 19 bit 5 to record that sanitation occurred.
+3. Feed edge DSP from the sanitized serialized payload, never the original
+   invalid driver buffer.
+4. Keep callback work bounded to sanitation, serialization, and the existing
+   queue handoff. Do not add transforms to the WiFi task.
+
+### Server time model
+
+1. Estimate delivered CSI rate from accepted monotonic frame timestamps after
+   five samples. Use 20 Hz only during startup.
+2. Cap the physical input rate at the firmware contract of 50 Hz so a burst or
+   timestamp artifact cannot retune downstream filters above their supported
+   range.
+3. Reconfigure the vital detector only after a 20 percent rate change. Clear
+   temporal and smoothing state whenever its clock changes. Samples calculated
+   with different clocks must never be blended.
+4. Compute temporal dominant frequency from the recent mean amplitude series
+   with demeaning, a Hann window, and bounded direct Fourier bins from 0.1 Hz to
+   the smaller of 4 Hz or 45 percent of sample rate.
+5. Return zero for short, flat, nonfinite, or spectrally ambiguous windows.
+6. Compare the current frame with the prior frame, not itself, for motion delta.
+7. Export zero sample rate until the estimate is mature. Never present a startup
+   fallback as a measured node property.
+
+### Model compatibility and room reliability
+
+1. Preserve the historical fifth input feature for version 1 adaptive models at
+   the model boundary. Version 2 and later models consume the true temporal
+   frequency. This prevents an existing model from silently receiving a
+   different input distribution after a server update.
+2. A background model is unreliable until it contains at least ten finite,
+   nonnegative residual references. An unreliable model cannot suppress a
+   runtime change and exposes no conformance score.
+3. Expose background maturity, reliability, and a robust residual Z score based
+   on the median and median absolute deviation.
+4. Keep the persisted empty home prior negative only. It cannot authorize
+   calibrated presence, person count, pose, or numeric vitals.
+
+### Model roadmap
+
+The following work remains proposal only:
+
+1. Evaluate an OpenCSI style per link quiet residual normalization for binary
+   presence without replacing absolute magnitude features used for motion.
+2. Evaluate delay and Doppler views after phase sanitation for activity.
+3. Pretrain a frozen multilink encoder and adapt small room specific modules for
+   counting.
+4. Evaluate link masked self supervision for pose only when at least three
+   spatially distinct links and synchronized positive pose labels exist.
+
+Every candidate uses immutable manifests and splits by room, subject,
+recording, and time. It is compared with the frozen baseline under identical
+seeds. Counting includes confusion matrices and mean absolute error. Pose
+includes PCK at 20 centimetres, MPJPE, and the mean pose baseline. A shuffled
+label control must fail.
+
+Promotion requires at least 10 percent held out lift, less than 10 milliseconds
+added p95 inference latency, no more than 20 percent peak memory overhead, zero
+leakage or secret findings, frozen anchor retention, and no regression in empty
+rejection or occupied recall. Promotion remains an explicit maintainer action.
+
+## Consequences
+
+The firmware no longer preserves a known invalid prefix as sensor evidence. The
+server uses an observed physical clock for spectral features and vital filters.
+Existing version 1 adaptive models remain compatible. Sparse background samples
+fail open to observation and fail closed for suppression.
+
+The direct Fourier estimator is intentionally small and bounded to 128 temporal
+samples. It is portable and deterministic, but it is not a replacement for a
+phase sanitized delay and Doppler pipeline.
+
+The largest remaining uncertainty is human recall. Empty home evidence can
+measure false presence but cannot show whether weak occupied signals are being
+suppressed. The fix path is a consented, leakage separated occupied holdout with
+multiple spatial links and synchronized reference labels.
+
+## Research basis
+
+1. Espressif ESP-IDF WiFi CSI programming guide:
+   https://docs.espressif.com/projects/esp-idf/en/v5.5.4/esp32/api-guides/wifi.html
+2. Espressif ESP CSI reference implementation:
+   https://github.com/espressif/esp-csi
+3. OpenCSI:
+   https://arxiv.org/abs/2607.26665
+4. MORIC:
+   https://arxiv.org/abs/2506.12997
+5. Parameter efficient CSI crowd counting:
+   https://arxiv.org/abs/2601.02203
+6. WiFi JEPA:
+   https://arxiv.org/abs/2607.11064
+
+## Acceptance test
+
+Run the firmware serializer host tests and the focused hardware, signal, and
+sensing server Rust suites. The deterministic serializer test must prove the
+first four bytes are zero only when ESP-IDF marks them invalid and bit 5 must
+round trip through the Rust parser. The temporal estimator must recover a
+1.2 Hz synthetic signal within 0.21 Hz, abstain on short and flat inputs, and
+remain below 10 milliseconds p95 on the target Mac. Existing version 1 model
+input must retain the legacy proxy. A background model with nine references
+must never report a match or suppress a runtime change. Physical firmware is
+not qualified until an S3 and C6 boot and stream the sanitized flag without
+watchdog, memory, or transport regressions during a five minute burn in.

docs/adr/ADR-357-raw-csi-calibration-sample-integrity.md

@@ -0,0 +1,143 @@
+# ADR 357: Raw CSI calibration sample integrity
+
+Status: Accepted
+
+Date: 2026-09-06
+
+## Context
+
+The empty room field model requires 1,000 accepted observations over at least
+600 seconds. The sensing server previously invoked calibration from both the
+raw CSI path and the one second edge vital path. Edge vital packets did not add
+a CSI observation, so that path repeatedly fed the existing history tail. A
+counter could therefore satisfy the frame gate without representing 1,000
+independent CSI packets.
+
+Node liveness also combined edge vital and CSI traffic. A source emitting only
+edge vital summaries could appear live enough to start calibration even though
+it had no fresh raw CSI. Finally, cloning the complete per node history before
+each feed copied as much as 204,800 bytes for a 100 frame, 256 subcarrier
+window even though calibration consumes only the current observation.
+
+The earlier single installation result recorded in ADR 355 predates this
+admission boundary. Its frame count is not accepted as evidence of independent
+CSI coverage. It remains useful only as diagnosis of the failure mode and must
+not be promoted as a production bootstrap prior.
+
+## Decision
+
+1. Only a packet on the frozen, model specific CSI grid may advance field
+   calibration. Edge vital packets update their own health and presentation
+   state but never feed the field model. The independent live inference grid
+   remains unchanged.
+2. Each calibration session stores the last admitted wrapping sequence for
+   every contributing node. Duplicate sequences are ignored. Normal forward
+   progress and the `u32::MAX` to zero wrap are accepted.
+3. A packet one through sixteen sequence values behind the current high water mark
+   is bounded UDP reordering. It is recorded and dropped without feeding the
+   model or moving the high water mark. A backward depth above sixteen, or an
+   ambiguous half range sequence, latches that node as faulted for the remainder
+   of the session. Status exposes the policy, reorder window, per node reorder
+   count, maximum observed depth, and `sequence_fault_node_ids`. Finalization
+   returns `calibration_sequence_discontinuity` after a fault. The operator must
+   cancel and restart the empty room capture.
+4. A requested source may start calibration only after a header only, bounded
+   observation window identifies one stable grid. The selected grid needs at
+   least ten seconds of evidence, a measured rate of at least 2 Hz, a latest
+   sample newer than five seconds, and no observed gap of five seconds or more.
+   Calibration status reports the immutable grid, selection evidence, current
+   grid age, and `last_sequence_by_node` without exposing CSI values.
+5. Start, cancel, reset, and process initialization clear sequence admission
+   state. A failed feed does not advance the sequence cursor, so the same
+   packet may be retried after a transient model input failure.
+6. The field bridge receives the current amplitude slice rather than a cloned
+   history. A separate bounded runtime history retains only that same frozen
+   grid, so the model is never trained on one symbol layout and evaluated on a
+   different layout. Canonical grid normalization remains unchanged.
+7. The exact source grid is stored inside the digest protected bootstrap v2
+   payload. A restored model rebuilds only its matching runtime history. An
+   unbound legacy image cannot become an active startup prior.
+8. Successful finalization clears the selected grid runtime history. Bootstrap
+   promotion waits up to 35 seconds for a complete fresh runtime window before
+   scoring twelve additional samples. This covers a 50 frame window at the 2 Hz
+   admission floor plus ten seconds of bounded jitter. Calibration observations
+   therefore cannot enter the held out decision window.
+9. Stop and promotion require the frozen grid to remain fresh and reject any
+   latched sequence fault immediately before persistence. Bootstrap v2 accepts
+   exactly one source node because the current runtime supports one grid bound
+   field model.
+10. The legacy `--calibrate` startup switch fails closed before opening ports.
+    Grid evidence does not exist at process start, so operators start the server,
+    wait ten seconds, then call the explicit single source calibration API.
+
+## Consequences
+
+Calibration frame count now means unique, forward raw CSI observations within
+one uninterrupted sequence epoch. A vitals only node cannot produce a
+bootstrap model. Late packets never become calibration evidence.
+
+One physical Node 5 capture observed sequence 4,119,566 followed by 4,119,563,
+4,119,564, and 4,119,565 in one receive batch. A second independent 90 second
+capture observed bounded late packets at depths 9, 10, and 11. The window of
+sixteen covers the measured maximum with five positions of margin. At the
+firmware acceptance ceiling of 50 Hz, the window represents no more than 320
+milliseconds. Late packets are always dropped. Larger regressions remain
+failed closed.
+
+The same 90 second capture measured three interleaved HT grids on Node 5. The
+64 subcarrier stream delivered 436 frames at 4.84 Hz with a 1.56 second maximum
+gap. The 128 stream delivered 100 frames at 1.11 Hz with a 5.05 second maximum
+gap. The 192 stream delivered 49 frames at 0.54 Hz with an 11.53 second maximum
+gap. Only the 64 grid exceeded the 2 Hz admission floor and stayed inside the
+five second freshness boundary, so the final field model binds to that grid.
+
+The current wire format still has no authenticated boot epoch or stable device
+identity. A restart very early in a session or a same endpoint adversary cannot
+be distinguished cryptographically. A future ADR 018 revision must carry an
+authenticated device identifier and a random per boot identifier before the
+server claims exact restart or identity collision detection.
+
+No new raw CSI is persisted. Sequence cursors and fault markers remain bounded
+in memory to active calibration sources. The bootstrap schema advances to v2
+to protect the grid identity while its negative only authority remains
+unchanged.
+
+## Implementation
+
+1. `NodeState` records header only recent grid evidence and a separate bounded
+   field model history.
+2. `AppStateInner::maybe_feed_calibration_frame` owns source binding, sequence
+   ordering, fault latching, model feed, and cursor commit.
+3. `field_bridge::maybe_feed_calibration` accepts exactly one current amplitude
+   slice and rejects an empty observation.
+4. Calibration start, status, stop, cancel, reset, promotion, refinement, and
+   restart enforce the frozen source and grid contract.
+5. `bootstrap_baseline` persists the source grid inside the verified v2 image.
+6. Finalization clears training history, and promotion blocks until the model
+   has a complete fresh scoring window plus twelve separately spaced samples.
+7. Startup calibration without measured grid evidence exits with a typed
+   operator instruction instead of creating a model that can never receive a
+   frame.
+
+## Acceptance test
+
+Unit tests must prove stable grid selection, rate and gap rejection, first
+packet acceptance, forward progress, duplicate rejection, source and grid
+isolation, maximum counter wrap, empty input retry, measured depth eleven
+reordering without a model feed, depth sixteen acceptance, depth seventeen
+latching, half range rejection, session clear, receipt visibility, protected
+grid persistence, and typed stop refusal.
+Tests must also prove startup flag refusal, missing and stale grid refusal,
+complete holdout isolation, and sequence fault rejection during holdout.
+
+On physical hardware, begin a Node 5 empty room capture and observe a fresh
+sixty second interval. Calibration frame growth must match unique 64 subcarrier
+Node 5 sequences while the independent global inference grid remains unchanged.
+Edge vital packets and other grids must produce zero growth. The bound grid
+must remain active, sequence faults must remain empty, and numeric vital output
+must remain absent. Any bounded late packet must appear in the reorder receipts
+while leaving the model count unchanged. Complete both the 1,000 frame and 600
+second gates, then run the twelve sample server controlled bootstrap holdout.
+Restart and prove that only the persisted grid rebuilds the runtime history.
+Do not claim human detection improvement until a separate consented occupied
+holdout demonstrates retained recall.

docs/adr/ADR-361-single-transmitter-pairing.md

@@ -0,0 +1,110 @@
+# ADR-361: Point the whole fleet at one transmitter, to remove selection ambiguity
+
+**Status:** Proposed — built, deployed fleet-wide, A-B-A measured. **Hypothesis CONFIRMED, adoption NOT justified.** The pairing *fraction* rises sharply; paired observations per second fall.
+**Date:** 2026-09-09
+**Follows:** ADR-358 (falsified), ADR-359 (mechanism confirmed, not adopted), ADR-360 (falsified).
+
+## The hypothesis, recorded long before it could be tested
+
+From `docs/BACKLOG.md`, "Next: the actual pairing constraint":
+
+> Two nodes can therefore fire in the same aligned window and still pick frames
+> from *different* transmitters, which can never pair under the
+> `(tx_mac, rx_seq)` key. Cheapest test and likely fix: **point the whole fleet
+> at one strong transmitter with the existing ADR-060 MAC filter.**
+
+It had never been run, and the reason was mechanical rather than scientific:
+**`filter_mac` was writable only by `provision.py` over USB.** It is a 6-byte
+blob, absent from the `cfg_key_t` scalar table the config API validates
+against, so the test would have required nine physical visits. Exposing it over
+the network (see the firmware change accompanying this ADR) reduced the whole
+experiment to two config pushes.
+
+## What was measured
+
+The associated AP was chosen on measurement, not assumption. Five transmitters
+reach all nine receivers; only one carries a usable rate:
+
+```
+transmitter            n_rx  total_fps  mean_rssi
+8c:30:66:86:a4:21        9      109.81     -66.6   <- the AP, 26x the next
+96:30:66:86:a4:21        9        4.24     -65.9
+08:36:c9:71:ff:52        9        0.18     -75.9
+64:16:66:cb:17:07        9        0.08     -81.7
+10:a5:62:24:bb:30        9        0.06     -78.2
+```
+
+A-B-A, ten 30 s windows per arm. `/api/v1/fusion` counters are cumulative since
+sink start, so they are **differenced over each window** and never divided as
+lifetime totals — the trap already recorded for `early_drop`/`csi_fps_samples`.
+The filter applied live on all nine nodes with **no restart**, so no reboot
+confounds any arm.
+
+```
+arm            n   paired_fraction        tx/s    paired/s
+A1 control    10   0.5668 +/- 0.0107      73.0     41.4
+B  filtered   10   0.7287 +/- 0.0352      33.9     24.7
+A2 control    10   0.5836 +/- 0.0120      81.5     47.6
+```
+
+**Pairing fraction +0.1535 against the pooled control (+26.7% relative),
+Welch t = 13.26, df = 10.5, p < 0.0001.** Reversible: A2 returned to control,
++0.0168 against A1.
+
+Per-node confirmation that the filter did what it claims, taken on node 3 while
+eight nodes were still unfiltered:
+
+```
+node 3 (filtered)   AP fps 13.56   non-AP fps 0.28   non-AP share  2.0%
+node 8 (control)    AP fps 12.18   non-AP fps 5.66   non-AP share 31.7%
+```
+
+The AP rate is untouched; peer traffic falls to residue.
+
+## The hypothesis is confirmed. The fix is not.
+
+Transmitter ambiguity **was** suppressing pairing, and removing it lifts the
+fraction by a quarter. That settles a question that had been open since
+2026-09-07 and had resisted three other experiments.
+
+But the backlog called this the "likely fix", and that half does not survive.
+It predicted yield would fall to ~13 fps and that "the frames that remain are
+pairable". Both are true, and neither is sufficient:
+
+- **tx/s fell 56%** (77.3 -> 33.9)
+- **paired observations per second fell 44%** (44.4 -> 24.7)
+
+A higher fraction of a much smaller pie. The quantity downstream sensing
+actually consumes is paired observations per second, and that went **down**.
+Fraction was the wrong figure of merit, and choosing it is what made this look
+like a fix rather than a diagnosis.
+
+## Decision
+
+**Do not adopt. Keep the branch unmerged.** Production stays unfiltered,
+`gate_mode=2`, `gate_seq_period=8`.
+
+`filter_mac` **is** kept in the config API. It costs nothing when unset, it is
+now the cheapest available probe for "is this node's pairing transmitter-
+limited?", and the ADR-060 filter had been effectively unreachable for the
+fleet's whole life.
+
+## What this opens
+
+A **partial** filter is the obvious next question and is NOT what was tested
+here. Restricting to a handful of widely-heard transmitters rather than exactly
+one would trade less yield for some of the gain, and there is no reason to think
+the optimum is at either extreme. The five 9-receiver transmitters above are the
+natural candidate set, though four of them carry almost no rate.
+
+That is a new experiment with a different independent variable, not a variant
+of this one. It should be sized on **paired observations per second**, which is
+the lesson this ADR paid for.
+
+## Honest scope
+
+Software-only. One house, one AP, nine nodes, ~15 minutes per arm, at 05:00
+local with the house quiet. The effect is far larger than the within-arm
+scatter and it reversed cleanly, but it has not been repeated across times of
+day, and pairing is known to move with the transmitter population (see
+"Transmitter population instability", 2026-09-02).

docs/adr/ADR-362-on-node-log-access-is-on-demand.md

@@ -0,0 +1,69 @@
+# ADR-362: Reading the on-node log is on-demand, never streamed
+
+**Status:** Accepted
+**Date:** 2026-09-09
+**Follows:** the on-node log engine (persistent 128 B-record ring + coredump-to-flash)
+
+## Context
+
+The firmware now keeps a persistent log on the node's `storage` volume and can
+write a coredump to flash. Nothing reads either one. The log is a new concept
+in this tree, so there is no existing consumer to extend and the access
+pattern is genuinely open.
+
+Two shapes were considered:
+
+1. **Ingest** — the server polls every node on a schedule, drains new records,
+   and keeps its own copy that the UI reads.
+2. **On-demand** — the server fetches a node's log only when a human asks for
+   it, and keeps nothing.
+
+## Decision
+
+**On-demand only. No streaming, no periodic polling, no server-side copy, no
+alerting.**
+
+The log is pulled after a board hangs or crashes, or while troubleshooting a
+specific node. That is the whole access pattern.
+
+## Why
+
+- **The persistence already lives on the node.** The ring holds ~208 days at
+  128 B per 300 s, and surviving a power cycle is the entire reason the module
+  exists — a power cycle is how a wedged node gets recovered. A second copy on
+  the server duplicates a durability property that is already satisfied.
+- **Airtime is this fleet's binding constraint, and it is the thing being
+  diagnosed.** Two nodes uplinking at 1 Mbps were measured consuming 91% of
+  fleet airtime. A periodic log drain across nine nodes would spend exactly the
+  resource whose exhaustion is the most common thing you would open the log to
+  investigate. An instrument must not perturb what it measures.
+- **Coredumps are 64 KB.** They are only ever worth moving when something has
+  actually crashed.
+- **The use is diagnostic, not observational.** Nobody watches nine logs. You
+  open one node's history when that node misbehaves.
+
+## What this implies gets built
+
+- A server route that proxies to the node on request — `GET
+  /api/v1/nodes/{id}/log`, and the same for `/coredump` — authenticating with
+  the OTA PSK the firmware endpoints already sit behind.
+- A page under the existing Tools menu to view one node's records.
+- **No** scheduler, **no** new storage, **no** retention policy on the server.
+
+## Open question, deliberately not settled here
+
+Whether the server decodes the 128 B records into JSON, or proxies raw bytes
+and lets the decoder at the edge (browser, or `node_log_read.py`) interpret
+them.
+
+Decoding server-side means the record layout is defined in two places — C and
+Rust — and can drift silently. The pilot already paid for a version of this:
+a field whose sentinel the host had to learn to render as `n/a`, where a
+plausible wrong value would have been worse than an obvious gap. That argues
+for the raw proxy and a single definition of the format.
+
+## Non-goals
+
+Real-time monitoring, log streaming, fleet-wide log aggregation, and alerting
+on log contents are all explicitly out of scope. If a future need genuinely
+requires one of them, it should revisit this ADR rather than grow into it.

docs/adr/ADR-363-native-macos-usb-node-onboarding.md

@@ -0,0 +1,93 @@
+# ADR 363: Native macOS USB node onboarding
+
+## Status
+
+Accepted and physically qualified with one attached ESP32 S3 and one attached
+ESP32 C6 through an unsigned Mac Catalyst development build. Signed
+distribution remains a release gate.
+
+## Context
+
+RuView operators currently provision ESP32 nodes with command line tooling.
+The macOS app can list server accepted node identities, but it cannot establish
+that an attached serial device is RuView firmware, assign a collision free node
+identity, preserve its WiFi configuration, or prove that it joined the sensing
+server. A UI that merely stores a friendly name would create false success.
+
+Generic shell access from the app would also expand authority beyond the task.
+Serial logs can contain operational data, and WiFi credentials must not enter
+application diagnostics or provisioning receipts.
+
+## Decision
+
+1. Firmware 0.8.12 provides a bounded line protocol over the physical USB serial
+   channel. A discovery request carries a random 128 bit nonce. The device
+   response binds that nonce to chip family, firmware version, current node
+   identity, private server target, configuration state, and a pseudonymous
+   64 bit device digest derived from the base MAC under a RuView domain.
+
+2. A configuration request is accepted only for the most recently issued
+   nonce within 60 seconds. The nonce is single use. Node identity is limited
+   to 1 through 255, the target is limited to RFC 1918 IPv4, and the target port
+   is limited to 1 through 65535.
+
+3. Existing WiFi configuration can be preserved. New credentials use strict
+   base64 framing, bounded lengths, and control character rejection. Firmware
+   commits NVS before acknowledging and rebooting. Credentials are never
+   returned, logged, or included in the receipt.
+
+4. The macOS client uses a native serial bridge. It allowlists exact character
+   device prefixes, configures the port directly, and does not invoke a shell,
+   Python, or an external process. It rechecks the device digest immediately
+   before configuration to reduce port substitution risk.
+
+5. The app suggests the lowest unused server node identity and the Mac private
+   LAN address. Success is shown only after the configured node appears in the
+   server inventory as active with evidence no older than three seconds.
+
+6. Old firmware is reported as requiring an update. The app must not claim it
+   provisioned a device based only on generic RuView serial logs.
+
+7. Automatic firmware flashing is outside this decision. Flashing requires an
+   exact chip and port check, a private backup, a matching image, and captured
+   boot evidence. Release publication remains a separate maintainer action.
+
+8. The device digest uses the PSA Crypto SHA 256 interface on ESP IDF 5.4 and
+   6.0. This keeps the stable domain separated identity while avoiding the
+   legacy Mbed TLS hash API removed by ESP IDF 6.
+
+9. ESP32 C6 mmWave UART defaults use GPIO 4 and GPIO 5. Startup rejects any
+   configured mmWave pin pair that overlaps the active console RX or TX pins.
+   This preserves the onboarding input path after a failed mmWave probe.
+
+## Security and privacy consequences
+
+The app gains Mac App Sandbox USB and serial device access, but not general file
+or shell authority. The protocol does not authenticate a device with a hardware
+root of trust; the digest is stable identification, not a cryptographic device
+certificate. Physical USB possession is therefore the trust boundary for this
+version. An authenticated fleet identity remains ADR 305 scope.
+
+The largest failure mode is a successful NVS write followed by failure to join
+the LAN. The user receives an explicit bounded verification failure instead of
+a success screen, while the board retains its committed settings and can be
+rescanned over USB.
+
+## Acceptance test
+
+Connect an ESP32 with firmware 0.8.12 to a Mac that is already receiving RuView
+nodes. Use only the macOS Add Sensor workflow to preserve WiFi, assign the
+lowest unused identity, and set the Mac private address. Pass when the UI
+reports the expected chip and firmware, the reassigned node remains fresh for
+five minutes, the stale collided identity expires, app restart preserves the
+profile, no server health, send, watchdog, panic, or reboot evidence appears,
+and no credential appears in app logs or the provisioning receipt.
+
+The 2026-08-31 physical run passed on an ESP32 S3. The measured witness is in
+`docs/validation/2026-08-31-macos-usb-node-onboarding.md`.
+
+The 2026-09-11 physical run passed on an ESP32 C6 over
+`cu.usbserial-3120`. The Mac app flashed the image, received the nonce bound
+hello receipt, preserved node identity 3, committed the server route, and
+verified fresh server evidence at minus 34 dBm. The run also exposed and fixed
+the GPIO 17 console RX conflict described above.

docs/adr/ADR-364-bfi-capture-admission-and-continuity.md

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+# ADR-364: BFI capture admission and continuity
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: bfi, capture, evidence, continuity, hardware
+
+## Context
+
+The Archer BE550, associated iPhone and MT7927 capture host have produced
+readable beamforming feedback information (BFI). Monitor-mode support alone
+does not establish this capability, and readable reports do not establish
+continuous sensing. Router channel width also does not guarantee an identical
+feedback grid in every report.
+
+**MEASURED:** two saved trials contain 66 and 96 unique reports. During their
+approximately 30-second sender intervals, rates were 2.2 and 3.2 reports/s,
+with maximum silence of 8.392 and 6.437 seconds. No reports followed in the
+approximately 15-second post-traffic intervals. All 162 reports received an
+independent tshark angle/control/SNR comparison. Reproducer commands, capture
+hashes and limitations are in the [capture results](../../tools/bfi/OPTIMIZATION.md)
+and [continuity report](../../tools/bfi_learning/CAPTURE-CONTINUITY.md).
+
+## Decision
+
+Admit a hardware/driver/profile combination only from its actual packet
+evidence. Apply these boundaries before using its output for sensing:
+
+1. Keep originals and receipts outside Git, with raw own-network captures on
+   the capture host. Record hardware, driver, channel, source hashes, capture
+   interval and restoration outcome. Select the authorized AP/client direction
+   explicitly; missing provenance cannot be inferred from an SSID.
+2. Enforce container, radiotap, MAC, length, fragmentation and supported-format
+   checks in [bfi_decode.py](../../tools/bfi/bfi_decode.py). Validate FCS when
+   present and reject flagged corruption; absent FCS is a recorded limitation.
+   Unsupported tuples remain counted rejections. Compare every admitted angle
+   against an independent dissector before extending a format's support claim.
+3. Deduplicate retries over the whole capture before slicing time intervals.
+   Preserve integer timestamps and separate feedback grids. Sequence numbers
+   and sounding tokens do not measure lost packets. BFI steering matrices are
+   not full CSI; the identity product of a square unitary matrix with its
+   conjugate transpose cannot serve as a changing channel feature.
+4. Preserve full-observation quality metrics and add separate before-traffic,
+   sender-interval and after-traffic metrics. Include leading/trailing silence,
+   report rate, maximum gap and duration-weighted occupied one-second bins.
+   Sender timestamps bound attempted UDP sends, not verified over-air sounding.
+5. Use an initial continuity gate of reports in at least 27 of the first 30
+   complete one-second sender bins and no silence longer than two seconds
+   anywhere in the actual sender interval, repeated in three comparable trials.
+   Report any partial final bin separately; never count it as a complete second.
+   This is a project engineering gate, not a published sensing accuracy result.
+
+The current traffic receipt lacks a PCAP hash and AP/client binding. The
+analyzer checks caller-selected file associations and hashes all inputs in its
+output; this establishes content integrity, not authenticated session binding.
+Stronger binding is required before automated capture admission can treat
+receipt association as independently verified.
+
+## Alternatives
+
+Monitor-mode declarations, average report rate alone and interpolating missing
+reports would each hide a different failure. Retain explicit packet validation
+and interval coverage instead. ESP32/Realtek CSI remains a separate modality;
+multiple unsynchronized boards do not establish a coherent BFI array.
+
+## Consequences
+
+### Positive
+
+Packet validity, capture continuity and sensing accuracy have separate,
+reproducible acceptance criteria. Changes in denominators cannot appear as RF
+performance gains.
+
+### Negative
+
+Strict format and continuity gates can exclude usable but sparse observations.
+New PHY formats and hardware require additional captures and independent checks.
+
+### Neutral
+
+The current trials fail continuity. Further motion modeling requires a new
+capture result; this ADR does not authorize hardware changes or establish
+identity recognition.
+
+## Validation and links
+
+Run `python -B -m unittest discover -s tools/bfi -v` and the focused
+`test_traffic_coverage.py` suite under `tools/bfi_learning`. Synthetic tests
+check parsing and interval rules; acceptance additionally requires retained
+real captures and the three successful trials above.
+
+- Extends proposed [ADR-118](ADR-118-bfld-beamforming-feedback-layer-for-detection.md)
+  and [ADR-123](ADR-123-bfld-capture-path-nexmon-and-esp32.md); neither is superseded.
+- Preserves [ADR-120](ADR-120-bfld-privacy-class-and-hash-rotation.md)'s privacy boundary.
+- Public-data admission has a separate contract in
+  [ADR-365](ADR-365-public-bfi-dataset-and-decoder-contract.md).

docs/adr/ADR-365-public-bfi-dataset-and-decoder-contract.md

@@ -0,0 +1,121 @@
+# ADR-365: Public BFI dataset and decoder contract
+
+- **Status**: proposed
+- **Date**: 2026-09-29
+- **Deciders**: RuView maintainers; acceptance pending
+- **Tags**: bfi, datasets, decoding, provenance, benchmarks
+
+## Context
+
+Public activity recordings offer a separate route to BFI model development
+while local capture continuity is insufficient. They introduce different frame
+formats, collection assumptions and licenses. Public HAR activity labels do
+not reproduce KIT's person-identification experiment.
+
+**MEASURED:** the pinned CSI-BFI-HAR train/validation download passed exact
+size/hash checks for 120 captures plus its license card. A separate body decoder
+matched 13,104 quantized angles across 14 sample bodies against tshark 4.2.2 in
+two independent executions. Whole-packet admission and activity training remain
+incomplete. See [results](../../tools/bfi_learning/RESULTS.md) and the
+[decoder audit and reproducer](../../tools/bfi_learning/PUBLIC-BFI-DECODE.md).
+
+## Decision
+
+### Pin provenance and partitions
+
+Use the [author dataset](https://huggingface.co/datasets/foysalhaque/CSI-BFI-HAR-Dataset/tree/c3013b3edc5a563a9cf6759f5d464a9d9b6f456a)
+at revision `c3013b3edc5a563a9cf6759f5d464a9d9b6f456a`. The
+[manifest](../../tools/bfi_learning/manifests/csi-bfi-har-c3013b3-subset.json)
+pins URLs, lengths, SHA-256, labels and split membership. Preserve the pinned
+dataset card's GPL-3.0 declaration and attribution separately from code licenses.
+
+| Partition | Author directory | Domain |
+| --- | --- | --- |
+| Training | HAR-1/BFI/M1 | Day 1, kitchen |
+| Validation | HAR-3/BFI/M1 | Day 3, classroom |
+| Held out | HAR-5/BFI/M1 and M2 | Day 5, living room; two views |
+
+Keep all views of one event in the same partition. Day and room are confounded;
+M1/M2 labels do not establish heterogeneous-chipset transfer. The selected
+filenames cover A–T activities and P1–P3 participants.
+
+Default downloads exclude held-out views. The bounded
+[downloader](../../tools/bfi_learning/download_public_bfi.py) verifies exact
+bytes before atomic completion, rehashes resumed files, retains failed partials
+and enforces transfer deadlines and byte limits. Data stays outside Git;
+downloaded code is never executed by the downloader.
+
+### Keep body decoding separate from packet admission
+
+[public_bfi_decode.py](../../tools/bfi_learning/public_bfi_decode.py) accepts
+only the audited VHT MU 3x1, 80 MHz, Ng=1, codebook-1 complete action body:
+1,003 bytes containing one SNR byte, 936 angle bytes and 61 opaque MU-exclusive
+bytes. It exposes quantized/radian angles and tone ordinals. Frequency indices,
+exclusive-field interpretation and validated matrix reconstruction remain
+separate acceptance work.
+
+Twelve sample frames have nonzero fragment-number bits. Successful tshark
+decoding and valid CRCs do not resolve their semantics. Retain live MAC guards;
+quarantine these frames until an explicit, independently reviewed dataset
+policy can justify admission. Require lossless pcapng conversion evidence for
+integer timestamps, packet lengths, link types and all original packet bytes.
+Do not silently strip headers or rewrite fragment fields to gain admission.
+
+The natural circular representation needs 1,404 features, exceeding the current
+trainer's 1,024-feature limit. Approve a bounded representation or revised limit
+with allocation tests before integration; do not truncate tones implicitly.
+
+### Admit recording quality before scoring models
+
+Inventory every manifest file, including tiny or unusable traces. Freeze a
+five-second observed-interval rule: at least 20 valid unique reports, with no
+inter-report gap above one second and no interpolation. Require at least two
+independent recordings per activity in each partition/view group that supply
+an eligible interval. Missing A–T coverage fails benchmark admission.
+Before implementing the census, also freeze interval anchoring, stride and
+leading/trailing gap rules: an inter-report gap bound alone does not bound
+silence at interval edges. These details remain required acceptance work.
+
+Public files lack trusted recorder start/end manifests. Observed packet spans
+cannot establish unobserved leading/trailing coverage. Report rejection reasons,
+eligible recording/time coverage and accuracy together. Freeze event/file groups
+before generating windows; inspect held-out quality without model selection
+against held-out outcomes.
+
+## Alternatives
+
+Reusing the HE/SU parser without format admission, weakening live fragment
+guards, or silently dropping sparse classes would change the task while hiding
+the change. Keep this adapter explicit and fail incomplete benchmark coverage.
+
+## Consequences
+
+### Positive
+
+Data provenance, protocol support and score coverage remain independently
+auditable. New public formats cannot silently weaken live capture validation.
+
+### Negative
+
+Sparse files or unresolved framing may prevent a benchmark despite a successful
+download. Format and representation work must precede model optimization.
+
+### Neutral
+
+This is offline research/reference tooling. Production integration must reuse
+the Rust protocols in [ADR-291](ADR-291-public-benchmark-evaluation-harness.md)
+and scorecards in [ADR-317](ADR-317-benchmark-multi-domain-scorecard.md); this ADR
+does not establish a second production trainer or an integrated benchmark score.
+
+## Validation and links
+
+Use `test_download_public_bfi.py` and `test_public_bfi_decode.py` under
+`tools/bfi_learning`, then the full packet oracle and quality census specified
+in the [decode audit](../../tools/bfi_learning/PUBLIC-BFI-DECODE.md) and
+[benchmark protocol](../../tools/bfi_learning/RESEARCH-NEXT.md).
+
+- Depends on [ADR-364](ADR-364-bfi-capture-admission-and-continuity.md)'s distinction
+  between packet validity and coverage.
+- Preserves [ADR-120](ADR-120-bfld-privacy-class-and-hash-rotation.md).
+- [ADR-119](ADR-119-bfld-frame-format-and-wire-protocol.md) defines a BFLD envelope;
+  that envelope does not replace raw 802.11 decoding.