服务刚启动就开始报warn了，实时数据也不动，我是4个esp32-s3 n16r8

[UserFengFeng]

2026-07-05T08:29:44.340104Z INFO sensing_server: WebSocket server listening on 127.0.0.1:3001
2026-07-05T08:29:44.340296Z INFO sensing_server: HTTP server listening on 127.0.0.1:3000
2026-07-05T08:29:44.340304Z INFO sensing_server: Open http://localhost:3000/ui/index.html in your browser
2026-07-05T08:29:44.340459Z INFO sensing_server: UDP listening on 0.0.0.0:5005 for ESP32 CSI frames
2026-07-05T08:29:44.736321Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 112816 us exceeds guard interval 60000 us total_engine_errors=1
2026-07-05T08:29:54.909533Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 114054 us exceeds guard interval 60000 us total_engine_errors=68
2026-07-05T08:30:05.395904Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 124520 us exceeds guard interval 60000 us total_engine_errors=126
2026-07-05T08:30:15.881192Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 103416 us exceeds guard interval 60000 us total_engine_errors=194

[ruvnet]

The Timestamp spread NNN µs exceeds guard interval 60000 µs warning fires when your 4 nodes send CSI frames whose timestamps differ by more than 60 ms. The fusion engine rejects those frames — that is why the real-time skeleton appears frozen (total_engine_errors climbing to 194 means nearly every frame is being dropped).

Root cause: ESP32 nodes timestamp frames using local uptime (ms since boot) unless NTP time sync is running. Four nodes that booted at different moments, or whose clocks drift independently, will produce timestamp spreads like the one you are seeing almost immediately.

Fix: Confirm that SNTP is enabled in your firmware build. In sdkconfig / sdkconfig.defaults look for:

CONFIG_LWIP_SNTP_ENABLE=y
CONFIG_SNTP_TIME_SYNC_METHOD_IMMED=y

With these set, each node syncs to NTP after connecting to WiFi and timestamps frames with a shared wall-clock reference, eliminating the spread.

You can verify sync is happening at runtime via idf.py monitor — look for [sntp] or SNTP log lines shortly after boot. If the lines are absent, NTP is not running on your build.

If you are using a pre-built binary from the releases page, check the CHANGELOG for which release first enabled NTP sync by default, and flash that version or later.

Labelling as bug + firmware.

---

Generated by Claude Code

[UserFengFeng]

特别感谢你的回复，我试了一下,在sdkconfig.defaults中增加了这两个参数,并且重新烧录了还是有这个问题，不确定是否还有其他问题，麻烦帮我看下，期待你的回复，我的命令以及log如下：

环境：
MAC: M4 Pro
python:3.13
分支：main分支
esp32-s3-N16R8: 4个

烧录：

1. 在sdkconfig.defaults增加配置
2. python provision.py --ssid "fail" --password "f123456678" --target-ip 192.168.137.235 --port /dev/tty.usbmodem5B8E0919531 --node-id 2 --tdm-slot 2 --tdm-total 4 --edge-tier 2
3. idf.py -p /dev/tty.usbmodem5B8E0919531 flash monitor

rust服务命令：
在v2源码目录下执行： ./target/release/sensing-server --source esp32 --udp-port 5005 --http-port 3000 --ws-port 3001 --ui-path ../ui

服务日志：
2026-07-06T07:10:01.426601Z INFO sensing_server: WiFi-DensePose Sensing Server (Rust + Axum + RuVector)
2026-07-06T07:10:01.426655Z INFO sensing_server: HTTP: http://localhost:3000
2026-07-06T07:10:01.426660Z INFO sensing_server: WebSocket: ws://localhost:3001/ws/sensing
2026-07-06T07:10:01.426662Z INFO sensing_server: UDP: 0.0.0.0:5005 (ESP32 CSI)
2026-07-06T07:10:01.426665Z INFO sensing_server: UI path: ../ui
2026-07-06T07:10:01.426668Z INFO sensing_server: Source: esp32
2026-07-06T07:10:01.426677Z INFO sensing_server: Data source: esp32 (udp_receiver=true, simulator=false, wifi=false)
2026-07-06T07:10:01.426681Z INFO sensing_server: Vital sign detector sample rate: 10.0 Hz
2026-07-06T07:10:01.452346Z INFO sensing_server: Discovered 0 model files, 3 recording files
2026-07-06T07:10:01.452381Z INFO sensing_server: Loaded runtime config: dedup_factor=3.00
2026-07-06T07:10:01.452400Z INFO sensing_server: Edge module registry: enabled — upstream=https://storage.googleapis.com/cognitum-apps/app-registry.json ttl=3600s
2026-07-06T07:10:01.452432Z WARN wifi_densepose_sensing_server::rufield_surface: ADR-262 P3: WDP_RUFIELD_SIGNING_SEED unset/invalid — RuField surface using the DETERMINISTIC DEV signing key. This is a dev/sensing key pending the ADR-262 §8 Q1 (P2) key-ownership decision; set WDP_RUFIELD_SIGNING_SEED (64-hex or 32-byte value) for a real deployment.
2026-07-06T07:10:01.452574Z INFO sensing_server: Loaded adaptive classifier: 3316 frames, 41.5% accuracy
2026-07-06T07:10:01.452583Z INFO sensing_server: Multistatic fusion guard: 60000 µs hard / 20000 µs soft (override via WDP_GUARD_INTERVAL_US / WDP_SOFT_GUARD_US, or WDP_TDM_SLOTS+WDP_TDM_SLOT_US)
2026-07-06T07:10:01.454014Z INFO sensing_server: API auth: OFF — /api/v1/* is unauthenticated. Set RUVIEW_API_TOKEN= to enforce bearer auth.
2026-07-06T07:10:01.454101Z INFO sensing_server: Host-header validation ON (3 entries; loopback names always included)
2026-07-06T07:10:01.454281Z INFO sensing_server: WebSocket server listening on 127.0.0.1:3001
2026-07-06T07:10:01.454553Z INFO sensing_server: HTTP server listening on 127.0.0.1:3000
2026-07-06T07:10:01.454561Z INFO sensing_server: Open http://localhost:3000/ui/index.html in your browser
2026-07-06T07:10:01.454729Z INFO sensing_server: UDP listening on 0.0.0.0:5005 for ESP32 CSI frames
2026-07-06T07:10:01.896235Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 92355 us exceeds guard interval 60000 us total_engine_errors=1
2026-07-06T07:10:12.919404Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 63987 us exceeds guard interval 60000 us total_engine_errors=19
2026-07-06T07:10:24.495022Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 102845 us exceeds guard interval 60000 us total_engine_errors=33
2026-07-06T07:10:34.530496Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 65256 us exceeds guard interval 60000 us total_engine_errors=55
2026-07-06T07:10:44.592936Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 104847 us exceeds guard interval 60000 us total_engine_errors=76
2026-07-06T07:10:44.793765Z INFO sensing_server: WebSocket client connected (sensing)
2026-07-06T07:10:54.893424Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 90932 us exceeds guard interval 60000 us total_engine_errors=110
2026-07-06T07:11:04.944351Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 107409 us exceeds guard interval 60000 us total_engine_errors=132
2026-07-06T07:11:17.046153Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 68428 us exceeds guard interval 60000 us total_engine_errors=146
2026-07-06T07:11:27.885792Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 96926 us exceeds guard interval 60000 us total_engine_errors=158
2026-07-06T07:11:38.210234Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 63606 us exceeds guard interval 60000 us total_engine_errors=171
2026-07-06T07:11:48.326754Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 152394 us exceeds guard interval 60000 us total_engine_errors=205
2026-07-06T07:11:59.615396Z WARN sensing_server::engine_bridge: governed trust cycle failed (warn rate-limited to one per 10s): fusion error: Timestamp spread 80503 us exceeds guard interval 60000 us total_engine_errors=244
^C2026-07-06T07:12:03.197224Z INFO sensing_server: Shutdown signal received
2026-07-06T07:12:03.197296Z INFO sensing_server: Server shut down cleanly

烧录后的部分日志：

I (249) cpu_start: Multicore app
I (257) cpu_start: GPIO 44 and 43 are used as console UART I/O pins
I (258) cpu_start: Pro cpu start user code
I (258) cpu_start: cpu freq: 160000000 Hz
I (260) app_init: Application information:
I (263) app_init: Project name: esp32-csi-node
I (268) app_init: App version: 0.7.0
I (272) app_init: Compile time: Jul 1 2026 22:37:57
I (277) app_init: ELF file SHA256: 93086c5f1...
I (281) app_init: ESP-IDF: v6.1-dev-5824-gfa8039b5ca
I (286) efuse_init: Min chip rev: v0.0
I (290) efuse_init: Max chip rev: v0.99
I (294) efuse_init: Chip rev: v0.2
I (298) heap_init: Initializing. RAM available for dynamic allocation:
I (304) heap_init: At 3FCB7620 len 000320F0 (200 KiB): RAM
I (310) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM
I (315) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM
I (320) heap_init: At 600FE000 len 00001FE8 (7 KiB): RTCRAM
I (326) spi_flash: detected chip: boya
I (329) spi_flash: flash io: dio
W (332) spi_flash: Detected size(16384k) larger than the size in the binary image header(8192k). Using the size in the binary image header.
W (344) i2c: This driver is an old driver, please migrate your application code to adapt driver/i2c_master.h
I (354) sleep_gpio: Configure to isolate all GPIO pins in sleep state
I (360) sleep_gpio: Enable automatic switching of GPIO sleep configuration
I (367) main_task: Started on CPU0
I (377) main_task: Calling app_main()
I (397) nvs_config: NVS override: ssid=fail
I (397) nvs_config: NVS override: password=***
I (397) nvs_config: NVS override: target_ip=192.168.137.235
I (397) nvs_config: NVS override: node_id=2
I (407) nvs_config: NVS override: tdm_slot_index=2
I (407) nvs_config: NVS override: tdm_node_count=4
I (417) nvs_config: NVS override: edge_tier=2
W (417) nvs_config: wasm_verify=1 but no wasm_pubkey in NVS — uploads will be rejected
I (427) csi_collector: Early capture node_id=2 (before WiFi init, #232/#390)
I (427) main: ESP32-S3 CSI Node (ADR-018 / ADR-110) — v0.7.0 — Node ID: 2
I (437) main: Onboard WS2812: 40 Hz gamma flicker (GENUS), colour=CSI motion via ruv-neural-viz, GPIO 48
I (447) pp: pp rom version: e7ae62f
I (447) net80211: net80211 rom version: e7ae62f
I (467) wifi:wifi driver task: 3fced658, prio:23, stack:6656, core=0
I (477) wifi:wifi firmware version: daf5527
I (477) wifi:wifi certification version: v7.0
I (477) wifi:config NVS flash: enabled
I (477) wifi:config nano formatting: disabled
I (477) wifi:Init data frame dynamic rx buffer num: 32
I (477) wifi:Init static rx mgmt buffer num: 5
I (487) wifi:Init management short buffer num: 32
I (487) wifi:Init dynamic tx buffer num: 64
I (497) wifi:Init static tx FG buffer num: 2
I (497) wifi:Init static rx buffer size: 2212
I (507) wifi:Init static rx buffer num: 10
I (507) wifi:Init dynamic rx buffer num: 32
I (507) wifi_init: rx ba win: 6
I (517) wifi_init: accept mbox: 6
I (517) wifi_init: tcpip mbox: 64
I (517) wifi_init: udp mbox: 32
I (517) wifi_init: tcp mbox: 6
I (527) wifi_init: tcp tx win: 5760
I (527) wifi_init: tcp rx win: 5760
I (527) wifi_init: tcp mss: 1440
I (537) wifi_init: WiFi IRAM OP enabled
I (537) wifi_init: WiFi RX IRAM OP enabled
I (547) phy_init: phy_version 712,87e8c20e,Apr 13 2026,18:51:10
I (587) wifi:mode : sta (3c:0f:02:d4:a6:d4)
I (587) wifi:enable tsf
I (587) main: WiFi STA initialized, connecting to SSID: fail
I (607) wifi:state: init -> auth (0xb0)
I (607) wifi:state: auth -> assoc (0x0)
I (617) wifi:state: assoc -> run (0x10)
I (637) wifi:connected with fail, aid = 8, channel 1, BW20, bssid = be:6e:e2:24:79:e9
I (637) wifi:security: WPA2-PSK, phy: bgn, rssi: -64, cipher(pairwise:0x3, group:0x3), pmf:0
I (647) wifi:pm start, type: 1

I (647) wifi:dp: 1, bi: 102400, li: 3, scale listen interval from 307200 us to 307200 us
I (657) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 25000, mt_pti: 0, mt_time: 10000
I (727) wifi:AP's beacon interval = 102400 us, DTIM period = 3
I (1717) esp_netif_handlers: sta ip: 192.168.137.225, mask: 255.255.255.0, gw: 192.168.137.1
I (1717) main: Got IP: 192.168.137.225
I (1717) main: Connected to WiFi
I (1717) stream_sender: UDP sender initialized: 192.168.137.235:5005
I (1727) csi_collector: node_id=2 verified (early capture matches g_nvs_config)
I (1727) csi_collector: Auto-detected AP channel: 1
I (1737) wifi:Set ps type: 0, coexist: 0

I (1737) csi_collector: WiFi modem sleep disabled (WIFI_PS_NONE) for CSI capture
I (1747) wifi:ic_enable_sniffer
I (1747) csi_collector: Promiscuous mode enabled (MGMT-only, RuView#396)
I (1757) csi_collector: CSI collection initialized (node_id=2, channel=1)
I (1767) csi_collector: self-ping started -> 192.168.137.1 @50Hz (CSI OFDM source, fix #521/#954)
I (1767) ESPNOW: espnow [version: 2.0] init
I (1777) c6_espnow: init done: local_id=3c0f02d4a6d4 leader=yes(candidate) period=100ms
I (1777) edge_proc: Initializing edge processing (tier=2, top_k=8, vital_interval=1000ms, presence_thresh=0.000)
I (1787) edge_proc: Edge DSP task created on core 1 (stack=8192, priority=5)
I (1787) edge_proc: Edge DSP task started on core 1 (tier=2)
W (1797) ota_update: NVS namespace 'security' not found — OTA upload endpoint will REJECT all requests until provisioned. Fail-closed per RuView#596.
I (1817) ota_update: OTA HTTP server started on port 8032
I (1817) ota_update: GET /ota/status — firmware version info
I (1827) ota_update: POST /ota — upload new firmware binary
W (1837) wasm_rt: WASM Tier 3 disabled (WASM3 not available)
I (1837) wasm_upload: WASM upload endpoints registered:
I (1847) wasm_upload: POST /wasm/upload — upload .wasm binary
I (1847) wasm_upload: GET /wasm/list — list modules
I (1857) wasm_upload: POST /wasm/start/:id — start module
I (1857) wasm_upload: POST /wasm/stop/:id — stop module
I (1867) wasm_upload: DELETE /wasm/:id — unload module
I (1877) main: WASM on_timer() periodic: 1000 ms
I (1877) c6_espnow: tx#1 (fail=0) rx#1 (match=1) leader=1 offset_us=0 smoothed=0
I (1877) mmwave: Probing UART1 (TX=17, RX=18) for mmWave sensor...
I (1887) mmwave: Probing at 115200 baud (MR60BHA2)...
I (2117) wifi:idx:0 (ifx:0, be:6e:e2:24:79:e9), tid:0, ssn:24, winSize:64
I (2997) mmwave: Probing at 256000 baud (LD2410)...
I (3317) csi_collector: CSI cb #1: len=128 rssi=-61 ch=1
I (4097) mmwave: No mmWave sensor detected on UART1
I (4097) main: No mmWave sensor detected (CSI-only mode)
I (4097) main: Swarm bridge disabled (no seed_url configured)
I (4097) rv_radio_esp32: ESP32 radio ops registered as active binding
I (4107) rv_radio_esp32: ESP32 radio ops: init (current ch=1 bw=20)
I (4107) adaptive_ctrl: adaptive controller online: fast=200ms med=1000ms slow=30000ms (channel_switch=0 role_change=0 aggressive=0)
I (4117) power_mgmt: Power management disabled (duty_cycle=100%)
I (4127) disp_task: Initializing display subsystem...
W (4127) disp_task: SPIRAM not enabled — using internal DMA memory (smaller buffers)
I (4137) disp_hal: Initializing Waveshare AMOLED 1.8" (SH8601 368x448)...
I (4147) disp_hal: I2C bus init OK (SDA=15, SCL=14)
W (4147) disp_hal: TCA9554 not found at 0x20: ESP_FAIL
W (4157) disp_hal: TCA9554 not found — assuming display power is always-on (direct wiring)
I (4167) disp_hal: QSPI panel IO created (40MHz, quad mode)
I (4307) adaptive_ctrl: state 5 → 8
I (4317) disp_hal: Drawing test pattern...
I (4367) disp_hal: Test pattern drawn
I (4367) disp_hal: SH8601 panel init OK (368x448)
I (4367) disp_hal: Probing FT3168 touch controller...
W (4367) disp_hal: FT3168 not found (ret=ESP_FAIL, id=0x00)
W (4377) disp_task: No FT3168 touch readback — SH8601 probe was a false-positive on a display-less board; running headless so CSI captures (#1000)
I (4387) csi_collector: CSI filter upgraded to MGMT+DATA (no display, RuView#893)
I (4397) csi_collector: CSI cb #2: len=256 rssi=-65 ch=1
I (4407) main: CSI streaming active → 192.168.137.235:5005 (edge_tier=2, OTA=ready, WASM=ready, mmWave=off, swarm=off, adapt=on)
I (4417) csi_collector: CSI cb #3: len=256 rssi=-86 ch=1
I (5017) csi_collector: sync-pkt #1 (sr=32) node=2 flags=0x03 local_us=4692149 epoch_us=4692156 seq=20
I (5107) adaptive_ctrl: medium tick: state=8 yield=0pps motion=0.00 presence=0.00 rssi=-64
I (5307) adaptive_ctrl: state 8 → 5
I (5557) csi_collector: sync-pkt #2 (sr=32) node=2 flags=0x03 local_us=5229185 epoch_us=5229194 seq=40
I (6077) csi_collector: sync-pkt #3 (sr=32) node=2 flags=0x03 local_us=5755924 epoch_us=5755933 seq=60
I (6107) adaptive_ctrl: medium tick: state=5 yield=30pps motion=0.00 presence=0.00 rssi=-64
I (6877) c6_espnow: tx#51 (fail=0) rx#50 (match=50) leader=1 offset_us=0 smoothed=0
I (7107) adaptive_ctrl: medium tick: state=5 yield=33pps motion=0.00 presence=0.00 rssi=-65
I (7397) csi_collector: CSI cb #100: len=128 rssi=-60 ch=1
I (8107) adaptive_ctrl: medium tick: state=5 yield=30pps motion=0.00 presence=0.00 rssi=-66
I (8507) adaptive_ctrl: state 5 → 6
I (9107) adaptive_ctrl: medium tick: state=6 yield=30pps motion=1.00 presence=6.02 rssi=-65
I (10107) adaptive_ctrl: medium tick: state=6 yield=30pps motion=1.00 presence=3.40 rssi=-64
I (10757) csi_collector: CSI cb #200: len=256 rssi=-65 ch=1