fix(edge): close audit P2-6/7/8 - id swaps, one-frame FALLING, stale-track timers

- P2-6 tracking: global greedy IoU matching (all pairs, best overlap first)
  replaces track-iteration-order greedy, so a crossing worker's box can no
  longer be stolen by whichever track came first. Any track in a contended
  match (person overlapping 2 tracks, or track overlapping 2 persons) is
  reported via tracker.ambiguous(); run_once resets its detector + smoother
  state so FALLEN/baseline/immobility never ride an id swap onto the wrong
  person. A genuinely fallen worker re-confirms within prone_confirm_s.
- P2-7 fall: STANDING -> FALLING now requires sustained prone
  (falling_confirm_s, 1.0s). One prone-looking frame (a bend, a bbox glitch)
  no longer arms the ghost detector's CRITICAL if the person then leaves.
  FALLEN / no_motion timing is unchanged (keyed off prone_since).
- P2-8 app: run_once feeds the engine and smoothers only tracks re-detected
  this tick; a track coasting inside max_age with a frozen frame is no-data,
  so prone-confirm / no-motion / immobility timers cannot accrue on stale
  data. Re-detection still confirms the fall (dropout pauses evidence).

TDD: 7 new tests verified failing on the pre-fix code (git stash), then
203 passed / 2 skipped (hardware) with the fixes.

docs/delivery-audit.md

@@ -95,13 +95,23 @@ misconfig/degradation fail LOUD.
   normalize by elapsed time.
   DONE — track_displacement divides by dt (per-second speed); test_geometry.py locks
   FPS-invariance. NOTE: motion_thr is now per-second and needs on-device re-tuning.
-- [ ] **P2-6 [M]** `edge/tracking.py:50` — greedy IoU matching swaps IDs when workers cross,
+- [x] **P2-6 [M]** `edge/tracking.py:50` — greedy IoU matching swaps IDs when workers cross,
   transferring FALLEN state + frozen baseline to the wrong person. **Fix:** gate matches;
   reset per-track safety state on a low-confidence match.
-- [ ] **P2-7 [M]** `edge/detectors/fall.py:92` — a single prone-looking frame sets FALLING and
+  DONE — global greedy (all pairs sorted by IoU desc) replaces track-order greedy; any track
+  in a contended match (person↔2 tracks or track↔2 persons) is reported via
+  `tracker.ambiguous()` and run_once resets its engine + smoother state. A still-prone worker
+  re-confirms within prone_confirm_s. test_tracking.py + test_app.py lock both.
+- [x] **P2-7 [M]** `edge/detectors/fall.py:92` — a single prone-looking frame sets FALLING and
   arms a CRITICAL ghost if the person then leaves. **Fix:** require sustained prone.
-- [ ] **P2-8 [M]** `edge/app.py:30` — detection dropouts keep a track 'active' with a frozen
+  DONE — STANDING→FALLING now requires sustained prone (`falling_confirm_s`, default 1.0s,
+  dataclass-only, no env knob). FALLEN/no_motion timing unchanged (keyed off prone_since).
+  test_fall.py locks it.
+- [x] **P2-8 [M]** `edge/app.py:30` — detection dropouts keep a track 'active' with a frozen
   frame; time-based timers accrue on stale data. **Fix:** treat a stale track as no-data.
+  DONE — run_once feeds the engine (and smoothers) only tracks re-detected THIS tick
+  (`latest.t == now`); a stale track is no-data until re-detected or lost. Re-detection still
+  confirms the fall (dropout pauses evidence, doesn't erase it). test_app.py locks both.
 - [x] **P2-9 [M]** `edge/detectors/zone.py:45` — foot point averages both ankles with no
   confidence check; a hallucinated ankle at (0,0) drags the foot into/out of a zone. **Fix:**
   confidence-gate the ankles, fall back to bbox-bottom-center.

edge/app.py

@@ -41,7 +41,18 @@ def run_once(source, pose, tracker, pool, engine, ring, snapshotter, sink, now_f
     persons = pose.infer(frame)
     tracks = tracker.update(persons, now)  # RAW keypoints; smoothing happens per-track below
     lost = tracker.lost()
-    for tr in tracks:
+    # A contended (crossing) match may be an id swap — FALLEN state, frozen baseline, or an
+    # immobility timer would ride along to the wrong person. Reset that track's safety state;
+    # a genuinely fallen worker still prone re-confirms within prone_confirm_s.
+    for tid in tracker.ambiguous():
+        engine.forget(tid)
+        pool.forget(tid)
+    # A track not re-detected this tick still sits in the tracker (< max_age) with a frozen
+    # latest frame. Feeding it downstream would re-smooth the same frame and let time-based
+    # detector timers (prone confirm / no-motion / immobility) accrue on stale data — treat
+    # it as no-data until it is re-detected or ages into lost().
+    fresh = [tr for tr in tracks if tr.latest.t == now]
+    for tr in fresh:
         f = tr.latest
         f.keypoints = pool.smoother_for(tr.track_id).smooth(f.keypoints, now)
     ring.push(now, frame)
@@ -49,7 +60,7 @@ def run_once(source, pose, tracker, pool, engine, ring, snapshotter, sink, now_f
     # `now` (monotonic) drives detector timers; wall time stamps the event (occurred_at). Off the
     # daemon (direct callers / tests) wall_fn is None → engine falls back to now, as before.
     wall_now = wall_fn() if wall_fn is not None else None
-    events = engine.process(tracks, lost, now, frame_wh=(w, h), wall_now=wall_now)
+    events = engine.process(fresh, lost, now, frame_wh=(w, h), wall_now=wall_now)
     for tr in lost:
         pool.forget(tr.track_id)
     if events:

edge/detectors/fall.py

@@ -14,6 +14,7 @@ class FallConfig:
     aspect_ratio: float = 1.25
     height_collapse: float = 0.35   # baseline 대비 남은 높이 비율(이 값 미만이면 급붕괴)
     prone_confirm_s: float = 3.0
+    falling_confirm_s: float = 1.0  # STANDING→FALLING에 요구되는 지속 prone (P2-7)
     no_motion_s: float = 10.0
     motion_thr: float = 0.25        # per-second normalized joint speed (units/s); MOTION_THR env
     min_conf: float = 0.5
@@ -104,6 +105,9 @@ class FallDetector:
         st.not_prone_since = None
         if st.prone_since is None:
             st.prone_since = now
+        # FALLING은 위험 상태다: 이 상태로 트랙이 사라지면 ghost가 CRITICAL을 무장한다.
+        # 단 한 프레임의 prone(굽힘·bbox 튐)으로 들어가지 않도록 지속 prone을 요구한다.
+        if st.name == "STANDING" and now - st.prone_since >= self.cfg.falling_confirm_s:
             st.name = "FALLING"
         if now - st.prone_since >= self.cfg.prone_confirm_s and not st.fall_emitted:
             st.name = "FALLEN"

edge/tracking.py

@@ -40,24 +40,46 @@ class IouTracker:
         self._tracks: dict[int, Track] = {}
         self._last_seen: dict[int, float] = {}
         self._lost: list[Track] = []
+        self._ambiguous: set[int] = set()
         self._next_id = 1
 
     def update(self, persons: list[Person], t: float) -> list[Track]:
         self._lost = []
-        unmatched = list(persons)
-        # 기존 트랙과 그리디 IoU 매칭
-        for tid, track in list(self._tracks.items()):
-            best, best_iou = None, self.iou_thr
-            for p in unmatched:
+        self._ambiguous = set()
+        # 전역 그리디: 모든 (트랙, 사람) 쌍을 IoU 내림차순으로 배정. 트랙 순회 순서 우선의
+        # 로컬 그리디는 교차 시 먼저 온 트랙이 남의 박스를 가로채(0.48이 0.74를 이김) FALLEN
+        # 상태·frozen baseline이 다른 사람에게 넘어갔다.
+        pairs = []
+        track_cands: dict[int, int] = {}
+        person_cands: dict[int, int] = {}
+        for tid, track in self._tracks.items():
+            for i, p in enumerate(persons):
                 iou = _iou(track.latest.bbox, p.bbox)
-                if iou >= best_iou:
-                    best, best_iou = p, iou
-            if best is not None:
-                unmatched.remove(best)
-                track.frames.append(TrackFrame(t, best.bbox, best.keypoints))
+                if iou >= self.iou_thr:
+                    pairs.append((iou, tid, i))
+                    track_cands[tid] = track_cands.get(tid, 0) + 1
+                    person_cands[i] = person_cands.get(i, 0) + 1
+        pairs.sort(key=lambda pr: pr[0], reverse=True)
+        used_tracks: set[int] = set()
+        used_persons: set[int] = set()
+        for _iou_v, tid, i in pairs:
+            if tid in used_tracks or i in used_persons:
+                continue
+            used_tracks.add(tid)
+            used_persons.add(i)
+            p = persons[i]
+            self._tracks[tid].frames.append(TrackFrame(t, p.bbox, p.keypoints))
             self._last_seen[tid] = t
+        # 경합 = 저신뢰 매칭. 한 사람이 두 트랙과, 또는 한 트랙이 두 사람과 임계 이상 겹치면
+        # (교차) 어느 배정이든 스왑일 수 있다 — 연루된 모든 트랙을 표시해 호출자가 트랙별
+        # 안전 상태(FALLEN·baseline·부동 타이머)를 리셋하게 한다.
+        for _iou_v, tid, i in pairs:
+            if track_cands[tid] > 1 or person_cands[i] > 1:
+                self._ambiguous.add(tid)
         # 신규 트랙
-        for p in unmatched:
+        for i, p in enumerate(persons):
+            if i in used_persons:
+                continue
             tid = self._next_id
             self._next_id += 1
             self._tracks[tid] = Track(tid, deque([TrackFrame(t, p.bbox, p.keypoints)],
@@ -72,3 +94,7 @@ class IouTracker:
 
     def lost(self) -> list[Track]:
         return list(self._lost)
+
+    def ambiguous(self) -> set[int]:
+        """직전 update에서 겹침 경합에 연루된(매칭이 스왑일 수 있는) 트랙 id."""
+        return set(self._ambiguous)

tests/test_app.py

@@ -72,6 +72,79 @@ def test_run_once_stamps_events_with_wall_clock_not_monotonic():
     assert falls and falls[0].occurred_at == 1_700_000_000.6
 
 
+def _engine(**fall_kw):
+    return EventEngine(
+        FallDetector(FallConfig(**fall_kw)),
+        ImmobilityWatchdog(ImmobilityConfig(immobile_s=999)),
+        GhostIncidentDetector(GhostConfig()),
+        ZoneIntrusionDetector([], ZoneConfig()),
+        EngineConfig(camera_id="cam-01"),
+    )
+
+
+class _ScriptedPose:
+    def __init__(self, frames): self.frames = list(frames)
+    def infer(self, frame): return self.frames.pop(0)
+
+
+def test_dropout_tick_does_not_feed_detectors_stale_frame():
+    # A track not re-detected this tick still sits in the tracker (< max_age) with a frozen
+    # latest frame. Passing it to the engine lets prone_confirm accrue on stale data: here the
+    # dropout tick alone would confirm the fall. A stale track must be treated as no-data.
+    src = _Source()
+    pose = _ScriptedPose([[_lying_person()], []])
+    tracker = IouTracker()   # max_age=1.0 > dropout gap, so the track stays active
+    pool = TrackSmootherPool()
+    engine = _engine(prone_confirm_s=0.5, falling_confirm_s=0.1)
+    ring = RingBuffer(); snap = Snapshotter(FaceBlurrer()); sink = _Sink()
+    times = iter([0.0, 0.6])
+    def now_fn(): return next(times)
+    run_once(src, pose, tracker, pool, engine, ring, snap, sink, now_fn)
+    run_once(src, pose, tracker, pool, engine, ring, snap, sink, now_fn)  # dropout tick
+    assert not any(e.event_type == EventType.FALL for e in sink.events)
+
+
+def test_dropout_then_redetection_still_confirms_fall():
+    # ...but the person re-detected still prone MUST confirm — the dropout pauses evidence,
+    # it does not erase the incident.
+    src = _Source()
+    pose = _ScriptedPose([[_lying_person()], [], [_lying_person()]])
+    tracker = IouTracker()
+    pool = TrackSmootherPool()
+    engine = _engine(prone_confirm_s=0.5, falling_confirm_s=0.1)
+    ring = RingBuffer(); snap = Snapshotter(FaceBlurrer()); sink = _Sink()
+    times = iter([0.0, 0.3, 0.7])
+    def now_fn(): return next(times)
+    for _ in range(3):
+        run_once(src, pose, tracker, pool, engine, ring, snap, sink, now_fn)
+    assert any(e.event_type == EventType.FALL for e in sink.events)
+
+
+def _lying_person_at(x1, x2):
+    kps = [Keypoint((x1 + x2) / 2, 15, 0.9) for _ in range(17)]
+    return Person(BBox(x1, 0, x2, 20), kps)
+
+
+def test_contended_crossing_resets_fall_state():
+    # Two prone tracks; then one box overlapping BOTH (a crossing). The surviving match may
+    # be a swap, so the contended track's fall state must reset — no FALL may fire off the
+    # pre-crossing prone timer.
+    src = _Source()
+    pose = _ScriptedPose([
+        [_lying_person_at(0, 40), _lying_person_at(30, 70)],
+        [_lying_person_at(15, 55)],
+    ])
+    tracker = IouTracker(iou_thr=0.3)
+    pool = TrackSmootherPool()
+    engine = _engine(prone_confirm_s=0.05, falling_confirm_s=0.01)
+    ring = RingBuffer(); snap = Snapshotter(FaceBlurrer()); sink = _Sink()
+    times = iter([0.0, 0.1])
+    def now_fn(): return next(times)
+    run_once(src, pose, tracker, pool, engine, ring, snap, sink, now_fn)
+    run_once(src, pose, tracker, pool, engine, ring, snap, sink, now_fn)
+    assert not any(e.event_type == EventType.FALL for e in sink.events)
+
+
 def _person_at(cx):
     # standing person centered at cx; nose at (cx, 60)
     kps = [Keypoint(cx, 150, 0.9) for _ in range(17)]

tests/test_fall.py

@@ -119,6 +119,19 @@ def test_single_noisy_nonprone_frame_does_not_cancel_no_motion():
     st = det._states[tr.track_id]
     assert st.name == "NO_MOTION"
 
+def test_single_prone_frame_does_not_enter_falling():
+    # FALLING is a DANGEROUS state: if the track vanishes while in it, the ghost detector
+    # arms a CRITICAL incident. A single prone-looking frame (a bend, a bbox glitch) must
+    # not be enough — FALLING requires sustained prone (falling_confirm_s).
+    det = FallDetector(FallConfig())   # falling_confirm_s=1.0
+    tr = _track()
+    box = BBox(90, 290, 210, 320)
+    _feed(det, tr, _lying_kps(), box, t=0.0)
+    assert det._states[1].name == "STANDING"
+    _feed(det, tr, _lying_kps(), box, t=1.2)   # sustained prone -> now FALLING
+    assert det._states[1].name == "FALLING"
+
+
 def test_low_confidence_is_ignored():
     det = FallDetector(FallConfig())
     tr = _track()

tests/test_tracking.py

@@ -36,3 +36,33 @@ def test_history_accumulates_frames():
     tracks = tr.update([_person(0, 0, 10, 20)], t=0.1)
     assert len(tracks[0].frames) == 2
     assert tracks[0].latest.t == 0.1
+
+
+def test_crossing_keeps_ids_via_global_best_match():
+    # Track-iteration-order greedy let track 1 steal the box that overlaps track 2 far more
+    # (0.48 vs 0.74), leaving track 2 unmatched and its person re-created as a NEW id —
+    # FALLEN state and frozen baseline would ride along to the wrong person. Global greedy
+    # must assign the highest-IoU pair first.
+    tr = IouTracker(iou_thr=0.3)
+    tr.update([_person(0, 0, 10, 20), _person(5, 0, 15, 20)], t=0.0)
+    tracks = tr.update([_person(3.5, 0, 13.5, 20), _person(-4, 0, 6, 20)], t=0.1)
+    by_id = {t.track_id: t for t in tracks}
+    assert set(by_id) == {1, 2}          # no phantom new track
+    assert by_id[2].latest.bbox.x1 == 3.5
+    assert by_id[1].latest.bbox.x1 == -4
+
+
+def test_contended_match_is_flagged_ambiguous():
+    # One person overlapping BOTH tracks (a crossing): whichever track wins, the match may
+    # be a swap, so every contended track must be reported for a safety-state reset.
+    tr = IouTracker(iou_thr=0.3)
+    tr.update([_person(0, 0, 10, 20), _person(5, 0, 15, 20)], t=0.0)
+    tr.update([_person(2, 0, 12, 20)], t=0.1)
+    assert tr.ambiguous() == {1, 2}
+
+
+def test_clean_match_is_not_ambiguous():
+    tr = IouTracker(iou_thr=0.3)
+    tr.update([_person(0, 0, 10, 20), _person(100, 0, 110, 20)], t=0.0)
+    tr.update([_person(1, 1, 11, 21), _person(101, 1, 111, 21)], t=0.1)
+    assert tr.ambiguous() == set()