feat: Sensing-only UI mode with Gaussian splat visualization and Rust migration ADR
- Add Python WebSocket sensing server (ws_server.py) with ESP32 UDP CSI and Windows RSSI auto-detect collectors on port 8765 - Add Three.js Gaussian splat renderer with custom GLSL shaders for real-time WiFi signal field visualization (blue→green→red gradient) - Add SensingTab component with RSSI sparkline, feature meters, and motion classification badge - Add sensing.service.js WebSocket client with reconnect and simulation fallback - Implement sensing-only mode: suppress all DensePose API calls when FastAPI backend (port 8000) is not running, clean console output - ADR-019: Document sensing-only UI architecture and data flow - ADR-020: Migrate AI/model inference to Rust with RuVector ONNX Runtime, replacing ~2.7GB Python stack with ~50MB static binary - Add ruvnet/ruvector as upstream remote for RuVector crate ecosystem Co-Authored-By: claude-flow <ruv@ruv.net>
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ruv
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docs/adr/ADR-019-sensing-only-ui-mode.md
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docs/adr/ADR-019-sensing-only-ui-mode.md
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# ADR-019: Sensing-Only UI Mode with Gaussian Splat Visualization
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| Field | Value |
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|-------|-------|
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| **Status** | Accepted |
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| **Date** | 2026-02-28 |
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| **Deciders** | ruv |
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| **Relates to** | ADR-013 (Feature-Level Sensing), ADR-018 (ESP32 Dev Implementation) |
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## Context
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The WiFi-DensePose UI was originally built to require the full FastAPI DensePose backend (`localhost:8000`) for all functionality. This backend depends on heavy Python packages (PyTorch ~2GB, torchvision, OpenCV, SQLAlchemy, Redis) making it impractical for lightweight sensing-only deployments where the user simply wants to visualize live WiFi signal data from ESP32 CSI or Windows RSSI collectors.
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A Rust port exists (`rust-port/wifi-densepose-rs`) using Axum with lighter runtime footprint (~10MB binary, ~5MB RAM), but it still requires libtorch C++ bindings and OpenBLAS for compilation—a non-trivial build.
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Users need a way to run the UI with **only the sensing pipeline** active, without installing the full DensePose backend stack.
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## Decision
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Implement a **sensing-only UI mode** that:
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1. **Decouples the sensing pipeline** from the DensePose API backend. The sensing WebSocket server (`ws_server.py` on port 8765) operates independently of the FastAPI backend (port 8000).
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2. **Auto-detects sensing-only mode** at startup. When the DensePose backend is unreachable, the UI sets `backendDetector.sensingOnlyMode = true` and:
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- Suppresses all API requests to `localhost:8000` at the `ApiService.request()` level
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- Skips initialization of DensePose-dependent tabs (Dashboard, Hardware, Live Demo)
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- Shows a green "Sensing mode" status toast instead of error banners
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- Silences health monitoring polls
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3. **Adds a new "Sensing" tab** with Three.js Gaussian splat visualization:
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- Custom GLSL `ShaderMaterial` rendering point-cloud splats on a 20×20 floor grid
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- Signal field splats colored by intensity (blue → green → red)
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- Body disruption blob at estimated motion position
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- Breathing ring modulation when breathing-band power detected
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- Side panel with RSSI sparkline, feature meters, and classification badge
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4. **Python WebSocket bridge** (`v1/src/sensing/ws_server.py`) that:
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- Auto-detects ESP32 UDP CSI stream on port 5005 (ADR-018 binary frames)
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- Falls back to `WindowsWifiCollector` → `SimulatedCollector`
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- Runs `RssiFeatureExtractor` → `PresenceClassifier` pipeline
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- Broadcasts JSON sensing updates every 500ms on `ws://localhost:8765`
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5. **Client-side fallback**: `sensing.service.js` generates simulated data when the WebSocket server is unreachable, so the visualization always works.
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## Architecture
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```
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ESP32 (UDP :5005) ──┐
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├──▶ ws_server.py (:8765) ──▶ sensing.service.js ──▶ SensingTab.js
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Windows WiFi RSSI ───┘ │ │ │
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Feature extraction WebSocket client gaussian-splats.js
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+ Classification + Reconnect (Three.js ShaderMaterial)
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+ Sim fallback
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```
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### Data flow
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| Source | Collector | Feature Extraction | Output |
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|--------|-----------|-------------------|--------|
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| ESP32 CSI (ADR-018) | `Esp32UdpCollector` (UDP :5005) | Amplitude mean → pseudo-RSSI → `RssiFeatureExtractor` | `sensing_update` JSON |
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| Windows WiFi | `WindowsWifiCollector` (netsh) | RSSI + signal% → `RssiFeatureExtractor` | `sensing_update` JSON |
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| Simulated | `SimulatedCollector` | Synthetic RSSI patterns | `sensing_update` JSON |
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### Sensing update JSON schema
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```json
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{
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"type": "sensing_update",
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"timestamp": 1234567890.123,
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"source": "esp32",
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"nodes": [{ "node_id": 1, "rssi_dbm": -39, "position": [2,0,1.5], "amplitude": [...], "subcarrier_count": 56 }],
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"features": { "mean_rssi": -39.0, "variance": 2.34, "motion_band_power": 0.45, ... },
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"classification": { "motion_level": "active", "presence": true, "confidence": 0.87 },
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"signal_field": { "grid_size": [20,1,20], "values": [...] }
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}
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```
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## Files
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### Created
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| File | Purpose |
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|------|---------|
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| `v1/src/sensing/ws_server.py` | Python asyncio WebSocket server with auto-detect collectors |
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| `ui/components/SensingTab.js` | Sensing tab UI with Three.js integration |
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| `ui/components/gaussian-splats.js` | Custom GLSL Gaussian splat renderer |
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| `ui/services/sensing.service.js` | WebSocket client with reconnect + simulation fallback |
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### Modified
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| File | Change |
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|------|--------|
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| `ui/index.html` | Added Sensing nav tab button and content section |
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| `ui/app.js` | Sensing-only mode detection, conditional tab init |
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| `ui/style.css` | Sensing tab layout and component styles |
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| `ui/config/api.config.js` | `AUTO_DETECT: false` (sensing uses own WS) |
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| `ui/services/api.service.js` | Short-circuit requests in sensing-only mode |
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| `ui/services/health.service.js` | Skip polling when backend unreachable |
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| `ui/components/DashboardTab.js` | Graceful failure in sensing-only mode |
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## Consequences
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### Positive
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- UI works with zero heavy dependencies—only `pip install websockets` (+ numpy/scipy already installed)
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- ESP32 CSI data flows end-to-end without PyTorch, OpenCV, or database
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- Existing DensePose tabs still work when the full backend is running
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- Clean console output—no `ERR_CONNECTION_REFUSED` spam in sensing-only mode
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### Negative
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- Two separate WebSocket endpoints: `:8765` (sensing) and `:8000/api/v1/stream/pose` (DensePose)
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- Pose estimation, zone occupancy, and historical data features unavailable in sensing-only mode
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- Client-side simulation fallback may mislead users if they don't notice the "Simulated" badge
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### Neutral
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- Rust Axum backend remains a future option for a unified lightweight server
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- The sensing pipeline reuses the existing `RssiFeatureExtractor` and `PresenceClassifier` classes unchanged
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## Alternatives Considered
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1. **Install minimal FastAPI** (`pip install fastapi uvicorn pydantic`): Starts the server but pose endpoints return errors without PyTorch.
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2. **Build Rust backend**: Single binary, but requires libtorch + OpenBLAS build toolchain.
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3. **Merge sensing into FastAPI**: Would require FastAPI installed even for sensing-only use.
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Option 1 was rejected because it still shows broken tabs. The chosen approach cleanly separates concerns.
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