fix: cross-platform build, manifest verification, sensing server warnings, and off-axis robustness

.gitattributes

@@ -1,3 +1,4 @@
 # The contributor harness hashes provenance inputs byte-for-byte. Keep text
 # files in this boundary on LF even when Windows enables core.autocrlf.
 harness/ruview/** text=auto eol=lf
+harness/homecore/** text=auto eol=lf

v2/crates/ruview-offaxis/src/projection.rs

@@ -85,11 +85,17 @@ impl Screen {
         let vr = (pb - pa)
             .normalize()
             .ok_or(OffAxisError::DegenerateScreen)?;
-        let vu = (pc - pa)
+        let vu_raw = (pc - pa)
             .normalize()
             .ok_or(OffAxisError::DegenerateScreen)?;
         let vn = vr
-            .cross(vu)
+            .cross(vu_raw)
+            .normalize()
+            .ok_or(OffAxisError::DegenerateScreen)?;
+        // Orthonormalize vu: guarantees that {vr, vu, vn} forms an exact
+        // right-handed orthonormal basis (zero shear / pure rotation matrix).
+        let vu = vn
+            .cross(vr)
             .normalize()
             .ok_or(OffAxisError::DegenerateScreen)?;
         Ok(Self {
@@ -446,4 +452,33 @@ mod tests {
             OffAxisError::InvalidClipPlanes
         );
     }
+
+    #[test]
+    fn screen_basis_is_strictly_orthonormal_under_skewed_corners() {
+        // pa, pb, pc where pc is intentionally slightly skewed (85 degrees instead of 90 degrees)
+        let pa = Vec3::new(0.0, 0.0, 0.0);
+        let pb = Vec3::new(1.0, 0.0, 0.0);
+        let pc = Vec3::new(0.1, 0.9, 0.0);
+        let screen = Screen::new(pa, pb, pc).unwrap();
+
+        let vr = screen.vr();
+        let vu = screen.vu();
+        let vn = screen.vn();
+
+        // Check unit lengths
+        assert_close(vr.dot(vr), 1.0, EPS, "vr length");
+        assert_close(vu.dot(vu), 1.0, EPS, "vu length");
+        assert_close(vn.dot(vn), 1.0, EPS, "vn length");
+
+        // Check pairwise orthogonality
+        assert_close(vr.dot(vu), 0.0, EPS, "vr . vu");
+        assert_close(vr.dot(vn), 0.0, EPS, "vr . vn");
+        assert_close(vu.dot(vn), 0.0, EPS, "vu . vn");
+
+        // Check right-handed orientation: vr x vu == vn
+        let cross = vr.cross(vu);
+        assert_close(cross.x, vn.x, EPS, "cross.x");
+        assert_close(cross.y, vn.y, EPS, "cross.y");
+        assert_close(cross.z, vn.z, EPS, "cross.z");
+    }
 }

v2/crates/wifi-densepose-desktop/Cargo.toml

@@ -8,7 +8,7 @@ authors.workspace = true
 
 [lib]
 name = "wifi_densepose_desktop"
-crate-type = ["staticlib", "cdylib", "rlib"]
+crate-type = ["lib"]
 
 [build-dependencies]
 tauri-build = { version = "2", features = [] }

v2/crates/wifi-densepose-sensing-server/src/main.rs

@@ -8452,10 +8452,24 @@ async fn main() {
     let field_surface: rufield_surface::FieldState =
         Arc::new(RwLock::new(rufield_surface::FieldSurface::from_env()));
 
-    // Populated inside the `multistatic_fuser` field initializer below, then
-    // threaded into `engine_bridge` so both fusion paths honor the same
+    // #1031/#1049: the default guard (60 ms hard / 20 ms soft)
+    // accommodates a real TDM slot offset. A deployment overrides it via
+    // WDP_GUARD_INTERVAL_US (direct, e.g. 200000 for WiFi/ESP-NOW sync —
+    // #1049) or WDP_TDM_SLOTS + WDP_TDM_SLOT_US (derive from schedule).
+    // Threaded into `engine_bridge` so both fusion paths honor the same
     // WDP_TDM_SLOTS/WDP_GUARD_INTERVAL_US-derived guard (#1049/#1057).
-    let mut engine_bridge_multistatic_cfg: Option<MultistaticConfig> = None;
+    let multistatic_cfg = {
+        let cfg = multistatic_guard_config_from_env();
+        info!(
+            "Multistatic fusion guard: {} µs hard / {} µs soft (override via \
+             WDP_GUARD_INTERVAL_US / WDP_SOFT_GUARD_US, or WDP_TDM_SLOTS+WDP_TDM_SLOT_US)",
+            cfg.guard_interval_us, cfg.soft_guard_us
+        );
+        MultistaticConfig {
+            min_nodes: 1, // single-node passthrough
+            ..cfg
+        }
+    };
 
     let state: SharedState = Arc::new(RwLock::new(AppStateInner {
         latest_update: None,
@@ -8526,20 +8540,7 @@ async fn main() {
         pose_tracker: PoseTracker::new(),
         last_tracker_instant: None,
         multistatic_fuser: {
-            // #1031/#1049: the default guard (60 ms hard / 20 ms soft)
-            // accommodates a real TDM slot offset. A deployment overrides it via
-            // WDP_GUARD_INTERVAL_US (direct, e.g. 200000 for WiFi/ESP-NOW sync —
-            // #1049) or WDP_TDM_SLOTS + WDP_TDM_SLOT_US (derive from schedule).
-            let cfg = multistatic_guard_config_from_env();
-            info!(
-                "Multistatic fusion guard: {} µs hard / {} µs soft (override via \
-                 WDP_GUARD_INTERVAL_US / WDP_SOFT_GUARD_US, or WDP_TDM_SLOTS+WDP_TDM_SLOT_US)",
-                cfg.guard_interval_us, cfg.soft_guard_us
-            );
-            let mut fuser = MultistaticFuser::with_config(MultistaticConfig {
-                min_nodes: 1, // single-node passthrough
-                ..cfg.clone()
-            });
+            let mut fuser = MultistaticFuser::with_config(multistatic_cfg.clone());
             if let Some(ref pos_str) = args.node_positions {
                 let positions = field_bridge::parse_node_positions(pos_str);
                 if !positions.is_empty() {
@@ -8550,18 +8551,14 @@ async fn main() {
                     fuser.set_node_positions(positions);
                 }
             }
-            engine_bridge_multistatic_cfg = Some(MultistaticConfig {
-                min_nodes: 1,
-                ..cfg
-            });
             fuser
         },
         engine_bridge: engine_bridge::EngineBridge::new(
             wifi_densepose_bfld::PrivacyMode::PrivateHome,
             1,
             "default",
             "Default Room",
-            engine_bridge_multistatic_cfg,
+            Some(multistatic_cfg),
         ),
         field_model: if args.calibrate {
             info!("Field model calibration enabled — room should be empty during startup");

v2/crates/wifi-densepose-sensing-server/src/matter/bridge.rs

@@ -22,10 +22,7 @@
 
 use crate::mqtt::discovery::EntityKind;
 
-use super::clusters::{
-    matter_mapping, MatterClusterMapping, DEVICE_TYPE_AGGREGATOR,
-    DEVICE_TYPE_BRIDGED_NODE,
-};
+use super::clusters::{matter_mapping, DEVICE_TYPE_AGGREGATOR};
 
 /// One endpoint on the Matter device tree.
 #[derive(Debug, Clone, PartialEq, Eq)]
@@ -107,7 +104,7 @@ pub fn build_bridge_tree(nodes: &[(String, String, Vec<EntityKind>)]) -> BridgeT
 
             let ep_id = next_endpoint;
             next_endpoint += 1;
-            let mut ep = Endpoint {
+            let ep = Endpoint {
                 endpoint_id: ep_id,
                 device_type: m.device_type,
                 label: format!("{:?}", entity),

v2/crates/wifi-densepose-sensing-server/src/matter/commissioning.rs

@@ -40,8 +40,6 @@
 //! vector `(passcode=20202021, discriminator=3840)` encodes to the
 //! Matter-published `34970112332`.
 
-use super::super::matter::clusters::VENDOR_ATTR_PERSON_COUNT as _; // re-export-only guard
-
 /// Inputs to setup-code generation. `passcode` and `discriminator`
 /// are usually random at first start and persisted in the
 /// `--matter-setup-file` so the same code re-prints next boot.