New package mothership/internal/fusion implementing spatial localization
via Fresnel zone inverse-distance weighting across multiple TX-RX links:
- Grid3D: voxel grid (default 0.2m cells) with AddLinkInfluence using
weight = activation / (1 + normalised_excess), where normalised_excess
= excess_path_length / first_Fresnel_zone_radius
- Engine: fuses LinkMotion slices into a 3D activation map, normalises,
and extracts peak blobs with confidence scores
- FresnelZoneRadius helper for callers choosing grid resolution
- 15 tests covering edge cases, ±1m position accuracy with 4+ links,
off-centre target, and performance (<50ms for 20 links)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- firmware: wire on-device motion hints to websocket_send_motion_hint()
with 1s rate-limit; csi_set_rate() now writes to g_state.packet_rate
- firmware: websocket_send_motion_hint() sends variance + MAC + timestamp
to mothership so rate controller ramps ahead of server-side detection
- mothership: RateController.OnMotionHint() preemptively ramps adjacent
nodes via SetAdjacentNodesFn callback (topology-aware burst propagation)
- mothership: idle timeout extended to 30s; variance_threshold=0 in active
mode (server handles detection), DefaultVarianceThreshold=1.0 in idle
- mothership: SendRoleToMAC() exposes dynamic role changes post-connect
- mothership: SendOTAToMAC() enables pushing firmware updates to nodes
- mothership: OTA status events are now logged with state and progress %
Protocol is backward-compatible: binary CSI frames work as in Phase 1;
JSON control messages are additive on the same single WebSocket per node.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
New package mothership/internal/recording implements a disk-backed circular
buffer for continuous CSI frame recording. Frames are persisted in the same
binary format used over WebSocket (raw frame bytes + 8-byte recv timestamp).
Key features:
- Time-based retention (default 48h) prunes expired records automatically
on each Append and via an explicit Prune() method
- Configurable retention via SPAXEL_RECORDING_RETENTION env var (e.g. "24h")
- ScanRange(from, to time.Time, fn) for time-windowed read-back
- Space-bounded: fixed-size file with circular eviction prevents disk exhaustion
- Crash-safe: 32-byte header (magic + write/oldest/wrap positions) survives restarts
- 18 tests covering write, read-back, time-based pruning, wrap-around,
crash recovery, ScanRange, env var configuration, and storage bounds
Foundation for Phase 8 time-travel replay.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Dashboard hub broadcasts motion state changes immediately on transition
(idle↔motion) via BroadcastMotionState; periodic state snapshots include
motion_states for new client init
- Per-link presence badge (green CLEAR / red MOTION) rendered in link list
alongside global presence indicator in status bar
- Amplitude mean time-series chart (60 s rolling window) for selected link,
line segments colored by motion state at each sample
- Fix: links created from JSON link_active/state events now initialize
ampHistory and lastAmpSample so time-series accumulates from first frame
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Dashboard presence indicator: per-link MOTION/CLEAR badges with global
status bar indicator, motion_state WebSocket messages, amplitude chart
- CSI recording buffer: disk-backed circular buffer (replay/store.go) with
magic-tagged binary format, wrap/eviction, 360 MB default (~48 h at 20 Hz)
- Adaptive sensing rate: RateController ramps nodes to 20 Hz on motion,
drops to 2 Hz after 10 s idle; wires to SendConfigToMAC over WebSocket
- Fix: alias internal/signal as sigproc to avoid conflict with os/signal
- Fix: add GetAllMotionStates() to MockIngestionState in dashboard tests
All tests pass (signal, ingestion, replay, dashboard).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Static HTML/JS dashboard served by mothership at /
- Three.js 3D scene with ground grid, OrbitControls (pan/zoom/rotate)
- WebSocket connection at /ws/dashboard for real-time CSI streaming
- Binary CSI frame parsing (24-byte header + I/Q payload)
- Amplitude bar chart (64 subcarriers) as 2D Canvas overlay
- Node/link panels with live status and click-to-select
- Dashboard Go package with Hub for client broadcasting
- Ingestion server broadcasts CSI frames and node events to dashboard
- 5 new tests for dashboard hub operations
Complete: 3D scene, WebSocket, amplitude chart, node/link panels
Remaining: Docker packaging (Phase 1 final item)
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
