obsbot-mcp 0.4.0 → 0.5.0

package/README.md

@@ -60,7 +60,7 @@ With the installed binary, use `"command": "obsbot-mcp"` and `"args": ["--debug"
 
 ## Tools
 
-34 tools total. All names below are current as of v0.4.0 — **every tool was renamed in this
+35 tools total. All names below are current as of v0.4.0 — **every tool was renamed in this
 release and there is no backward-compatible alias**; see [CHANGELOG.md](./CHANGELOG.md) for the
 full old→new mapping if you're updating a caller.
 
@@ -92,7 +92,7 @@ with no serial, since it can't be opened to read one.
 | `obsbot_devices` | — | List attached OBSBOT cameras with each one's serial (where obtainable), name, and status (`available`/`bound`/`busy`). A `busy` camera is held by another process. |
 | `obsbot_wake` | `camera`? | Wake the camera/gimbal (sends `"run"`). **Moves the camera:** un-stows the gimbal back to level (pitch ~0). Most control commands also wake it implicitly. |
 | `obsbot_sleep` | `camera`? | Sleep the camera/gimbal (sends `"sleep"`). **Moves the camera:** stows the gimbal face-down at roughly pitch `84`, so `obsbot_gimbal_position` reads ~84 rather than the pose you left. |
-| `obsbot_status` | `camera`? | Read the live status block: `{ awake, hdr, faceAe, aiMode, trackSpeed }` (`faceAe` = auto-exposure metering for a detected face). Under `--debug`, also returns the raw 60-byte block as hex. |
+| `obsbot_status` | `camera`? | Read the live status block: `{ awake, hdr, faceAe, aiMode, trackSpeed, fovMode, zoomPercent }` (`faceAe` = auto-exposure metering for a detected face; `fovMode` = `wide`\|`medium`\|`narrow`\|`custom`\|`unknown`, where `custom` means a continuous zoom overrode the discrete modes; `zoomPercent` = zoom position, `0`-`100`). Under `--debug`, also returns the raw 60-byte block as hex. |
 
 ### Gimbal (PTZ)
 
@@ -102,6 +102,33 @@ with no serial, since it can't be opened to read one.
 | `obsbot_gimbal_move_speed` | `yaw`, `pitch`, `roll` (deg/s, clamped to `±150`, `roll` defaults `0`), `autoStopMs` (default `800`), `camera`? | Drive the gimbal at a speed, then auto-stop after `autoStopMs` so it can't run away. Same yaw/pitch sign convention as `gimbal_move`. Returns the speeds actually used. Past its limit the firmware ignores the command outright rather than saturating — 180 deg/s and above move the gimbal exactly 0° — so requests are clamped into the hardware-verified band. **Not available on Linux** — see [limitations](#linux-gimbal-position-feedback-is-not-live). |
 | `obsbot_gimbal_recenter` | `camera`? | Recenter the gimbal — drives it to yaw `0` / pitch `0`. Returns as soon as the command is sent, so poll `obsbot_gimbal_position` if you need to know it arrived. |
 | `obsbot_gimbal_position` | `camera`? | Read the gimbal's current absolute `{ yaw, pitch }` in degrees via standard UVC Pan/Tilt. Valid during a move as well as after one. On Linux this is the last-*commanded* value, not a live in-flight reading — see [limitations](#linux-gimbal-position-feedback-is-not-live). |
+| `obsbot_aim_at_pixel` | `x`, `y`, `frameWidth`, `frameHeight`, `camera`? | Point the camera at a pixel from a frame you just captured. Reads the camera's own FOV mode rather than taking one. Refuses while AI tracking or a custom zoom is active, and refuses if the camera had to be woken (waking moves the gimbal, invalidating the frame you measured). It reads the live pose to compute the aim, so on Linux it is affected the same way `obsbot_gimbal_position` is — see [limitations](#linux-gimbal-position-feedback-is-not-live). Returns `clamped:true` if the target was outside the gimbal's range, in which case the camera still moves — to the nearest reachable pose. Refuses (`ok:false`) instead of moving when the pixel lies past vertical from the current pose, since the only rotation that reaches it would swing the camera toward the opposite side of the room; tilt toward the pixel first, then re-aim. |
+
+#### Aiming at what you can see
+
+`obsbot_capture_snapshot` returns the frame as an image plus its `width`/`height`, so a model can
+locate something in the picture and then point the camera at it:
+
+1. `obsbot_capture_snapshot` — look at the frame
+2. `obsbot_aim_at_pixel` — pass the target's pixel and that frame's dimensions
+3. `obsbot_capture_snapshot` again — confirm it landed, and repeat if needed
+
+Pass the `frameWidth`/`frameHeight` from the same snapshot the pixel came from. Mixing a pixel from
+one frame with dimensions from another aims at the wrong place, and nothing can detect it.
+
+**The snapshot must be `source: "device"`.** `obsbot_capture_snapshot` can also read from
+`source: "virtual"` or `"ndi"`, which come from OBSBOT Center's own output rather than the camera's
+raw stream. Those are framed and cropped by OBSBOT Center, not by this camera's optics, so the
+measured field-of-view constants this tool relies on don't describe them — aiming from a virtual or
+NDI frame lands in the wrong place with no way to detect it. Only use a `device`-source snapshot's
+pixel and dimensions here.
+
+The tool reads the camera's field-of-view mode itself, so there is no FOV argument to get wrong. It
+refuses rather than guessing when AI tracking is on (tracking drives the gimbal and would fight the
+aim), when a custom zoom is set (the magnification is measured — `3*ratio-2` — but not applied here
+yet), or when the camera had to
+be woken from sleep (waking moves the gimbal, so the frame you measured no longer matches where the
+camera is pointing — take a fresh snapshot and retry).
 
 ### Gimbal presets
 
@@ -225,14 +252,14 @@ make install  # copies to native/prebuilt/linux-x64/
 ### Linux gimbal position feedback is not live
 
 `obsbot_gimbal_position` on Linux reports the last position `obsbot_gimbal_move`/
-`obsbot_gimbal_recenter` commanded — not a live, in-flight reading. This is a Linux kernel-driver
-gap, not a firmware limitation: hardware testing (2026-07-21) confirmed the OBSBOT Tiny 2's
-`CT_PANTILT_ABSOLUTE` control genuinely tracks live position — a raw USB read of that same control,
-bypassing the kernel, showed a real slew progressing in real time. The reason plain V4L2
-(`VIDIOC_G_CTRL`) never sees that is that `uvcvideo` doesn't mark `V4L2_CID_PAN_ABSOLUTE`/
-`TILT_ABSOLUTE` as `V4L2_CTRL_FLAG_VOLATILE` on this kernel (confirmed via `VIDIOC_QUERY_EXT_CTRL`),
-so the V4L2 core control framework serves its own cache of the last `VIDIOC_S_CTRL` value instead of
-re-querying the device.
+`obsbot_gimbal_recenter` commanded — not a live, in-flight reading. Hardware testing (2026-07-21)
+confirmed the OBSBOT Tiny 2's `CT_PANTILT_ABSOLUTE` control genuinely tracks live position — a raw
+USB read of that same control, bypassing the kernel, showed a real slew progressing in real time.
+The reason plain V4L2 (`VIDIOC_G_CTRL`) never sees that is that `uvcvideo` caches the control's
+value and serves the cache instead of re-querying the device (confirmed via
+`VIDIOC_QUERY_EXT_CTRL`, which reports no `V4L2_CTRL_FLAG_VOLATILE`). The driver invalidates that
+cache when the device sends a UVC Control Change interrupt — which this camera's firmware never
+does, and never advertises support for.
 
 Getting a genuinely live reading through V4L2 requires briefly detaching the kernel driver from
 the camera's control interface and reading the control directly over raw USB — but detaching that
@@ -241,10 +268,12 @@ device: streaming and control share one kernel-managed USB function, so pulling
 takes both down together. That makes a libusb-based workaround incompatible with anything actually
 using the camera as a webcam at the same time, which ruled it out as a shipped default.
 
-**A kernel patch has been submitted upstream** to mark these controls volatile in `uvcvideo`,
-matching precedent — this device already has one OBSBOT-specific quirk merged
-(`UVC_QUIRK_OBSBOT_MIN_SETTINGS`, a different bug). If it lands, `obsbot_gimbal_position` would
-become live through plain V4L2 with no code changes needed here. Until then:
+**A kernel patch has been submitted upstream** ([`media: uvcvideo: query pan/tilt position from
+the device on every read`](https://lore.kernel.org/linux-media/20260725212332.64927-1-jordan.mymail@gmail.com/),
+July 2026 — awaiting review, not merged). It marks `CT_PANTILT_ABSOLUTE` volatile so the driver
+queries the device on every read; verified on this hardware to track a live slew through plain
+`VIDIOC_G_CTRL`, concurrently with streaming. If it is accepted, `obsbot_gimbal_position` becomes
+live on Linux with no code changes needed here. Until it ships in a kernel near you:
 
 - `obsbot_gimbal_move` and `obsbot_gimbal_recenter` work normally — hardware-verified,
   repeatedly, via direct V4L2 `VIDIOC_S_CTRL` writes. Their target values are known and clamped
@@ -351,8 +380,11 @@ What has actually been exercised against hardware, and what hasn't:
   wasn't available). Single-camera use is unaffected either way.
 - **Linux gimbal position feedback is not live, and `obsbot_gimbal_move_speed` is unavailable
   there as a result.** See ["Linux gimbal position feedback is not live"](#linux-gimbal-position-feedback-is-not-live)
-  above — a kernel patch has been submitted to fix this at the source. `obsbot_gimbal_move` and
+  above — a kernel patch fixing this at the source [has been submitted upstream](https://lore.kernel.org/linux-media/20260725212332.64927-1-jordan.mymail@gmail.com/)
+  (July 2026, awaiting review). `obsbot_gimbal_move` and
   `obsbot_gimbal_recenter` are unaffected; both are hardware-verified to work normally.
+  `obsbot_aim_at_pixel` **is** affected — it depends on a live pose reading to compute the aim, the
+  same way `obsbot_gimbal_position` does.
 - **`obsbot_zoom_vendor`'s ratio scale doesn't match `obsbot_zoom_uvc`'s at the same `ratio`.** A
   hardware snapshot comparison at `ratio: 2.0` showed the vendor path framed tighter than the UVC
   path. Whether the vendor-side ratio encoding is off by a scale factor, or the two zoom controls
@@ -395,3 +427,44 @@ only run it under supervision:**
 npm run build
 node scripts/e2e.mjs
 ```
+
+### Testing changes through the live MCP tools
+
+Two traps make it easy to test the wrong thing and believe the result. Both cost real time on
+2026-07-25.
+
+**Rebuilding and reloading is not enough — kill stale server processes first.** The MCP server runs
+from `dist/`, so a source change is invisible until `npm run build`. But reloading the server in your
+MCP client does *not* guarantee your new code executes: this project coordinates concurrent clients
+by electing a single owner process (see `IPC-DESIGN.md`), and a reload spawns a *new* client that
+**forwards its tool calls to whatever owner is already running**. An orphaned server from a previous
+session stays the owner, so the new process advertises its own up-to-date tool list while every call
+is executed by old code.
+
+That failure is deceptive rather than loud: a newly added tool *appears* in the tool list and can be
+called, but behaves like the old build. Two reloads in a row will not fix it. Check for orphans
+before concluding anything:
+
+```powershell
+# Windows
+Get-CimInstance Win32_Process -Filter "Name='node.exe'" |
+  Where-Object { $_.CommandLine -like "*Obsbot*" } |
+  Select-Object ProcessId, CreationDate
+```
+
+```bash
+# Linux / macOS
+pgrep -af "obsbot.*dist/index.js"
+```
+
+Kill everything older than your build, then reload. The cheapest positive confirmation is to call a
+tool whose *output* changed — `obsbot_status` gaining a field, say — rather than one whose
+description changed, since descriptions come from the new process either way.
+
+**A preview holds the camera stream, so snapshots fail while one is open.** `obsbot_capture_preview`
+and `obsbot_capture_snapshot` both need the device stream, and on Windows the second one gets
+`Camera is in use by another application`. This matters for the aim loop above, which is
+snapshot → aim → snapshot: stop the preview around each snapshot, or work without one. Gimbal control
+is unaffected — it uses control transfers, not the stream — so `obsbot_aim_at_pixel` itself works fine
+with a preview running. The error text suggests `source: "virtual"` or `"ndi"` as a workaround; do not
+take it when aiming, since those frames are framed by OBSBOT Center rather than this camera's optics.

package/dist/capture/ffmpeg-args.js

@@ -86,6 +86,21 @@ export function buildRecordArgs(o) {
         "-y", o.outputPath,
     ];
 }
+// The preview is for a human to watch the gimbal move, so smooth motion is the
+// point of it. Left to negotiate, dshow settles on 1080p30 — but the Tiny 2
+// advertises mjpeg 1920x1080 all the way to 60fps (`ffmpeg -list_options`,
+// confirmed 2026-07-25, and the 60fps stream verified to actually sustain 60
+// rather than merely claim it). Pinning the codec is what makes 60 reachable:
+// yuyv422 tops out at 30 for 1080p, so without -vcodec the negotiation can land
+// on a format that cannot deliver it.
+//
+// Deliberately NOT here: -fflags nobuffer / -flags low_delay / -framedrop. Those
+// were tried against an apparent half-second lag on 2026-07-25 and appeared to
+// fix it, but re-running the untouched arguments showed them equally fast — the
+// lag was CPU contention from a concurrent test suite, not these flags. Adding
+// them would have been treating a symptom that no longer reproduced. -framedrop
+// in particular is a real trade (drop frames under load instead of running
+// permanently late) and should be a deliberate choice, not a leftover.
 export function buildPreviewArgs(o) {
     const isV4l2 = o.videoName.startsWith("/dev/");
     if (isV4l2) {
@@ -94,6 +109,7 @@ export function buildPreviewArgs(o) {
             "-f", "v4l2",
             "-input_format", "mjpeg",
             "-video_size", "1920x1080",
+            "-framerate", "60",
             "-i", o.videoName,
             "-window_title", "OBSBOT preview",
         ];
@@ -101,6 +117,7 @@ export function buildPreviewArgs(o) {
     // dshow path
     return [
         "-hide_banner", "-loglevel", "warning", "-f", "dshow",
+        "-framerate", "60", "-video_size", "1920x1080", "-vcodec", "mjpeg",
         "-i", `video=${o.videoName}`,
         "-window_title", "OBSBOT preview",
     ];

package/dist/capture/ffmpeg-args.js.map

@@ -1 +1 @@
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+{"version":3,"file":"ffmpeg-args.js","sourceRoot":"","sources":["../../src/capture/ffmpeg-args.ts"],"names":[],"mappings":"AAAA,yEAAyE;AACzE,gFAAgF;AAChF,oDAAoD;AAsBpD,gDAAgD;AAEhD,sEAAsE;AACtE,yCAAyC;AACzC,MAAM,UAAU,iBAAiB,CAAC,MAAc;IAC9C,MAAM,KAAK,GAAa,EAAE,CAAC;IAC3B,MAAM,KAAK,GAAa,EAAE,CAAC;IAC3B,KAAK,MAAM,IAAI,IAAI,MAAM,CAAC,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;QACzC,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,8BAA8B,CAAC,CAAC;QACrD,IAAI,CAAC,CAAC;YAAE,SAAS;QACjB,IAAI,CAAC,CAAC,CAAC,CAAC,KAAK,OAAO;YAAE,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;;YAClC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACxB,CAAC;IACD,OAAO,EAAE,KAAK,EAAE,KAAK,EAAE,CAAC;AAC1B,CAAC;AAED,MAAM,UAAU,gBAAgB,CAC9B,OAAmB,EACnB,MAAqB;IAErB,MAAM,KAAK,GAAG,CAAC,CAAa,EAAoB,EAAE,CAChD,OAAO,IAAI,CAAC,IAAI,CAAC,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,IAAI,OAAO,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC;IACvE,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;QACzB,IAAI,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;YACnB,OAAO,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC;QAChF,CAAC;QACD,OAAQ,OAAwB,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,wBAAwB,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACvF,CAAC;IACD,IAAI,MAAM,KAAK,KAAK,EAAE,CAAC;QACrB,IAAI,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;YACnB,OAAO,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC;QACrE,CAAC;QACD,OAAQ,OAAwB,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAC5E,CAAC;IACD,oCAAoC;IACpC,IAAI,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;QACnB,MAAM,KAAK,GAAG,OAAO,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,SAAS,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;QAChE,OAAO,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,SAAS,CAAC;IACxC,CAAC;IACD,mBAAmB;IACnB,OAAQ,OAAwB,CAAC,KAAK,CAAC,IAAI,CACzC,CAAC,CAAC,EAAE,EAAE,CAAC,gBAAgB,CAAC,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,CACvD,CAAC;AACJ,CAAC;AAED,MAAM,UAAU,gBAAgB,CAAC,OAAmB;IAClD,IAAI,OAAO,IAAI,OAAO,IAAI,KAAK,CAAC,OAAO,CAAE,OAAwB,CAAC,KAAK,CAAC,EAAE,CAAC;QACzE,OAAQ,OAAwB,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,cAAc,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7E,CAAC;IACD,uDAAuD;IACvD,mDAAmD;IACnD,OAAO,SAAS,CAAC;AACnB,CAAC;AAED,6CAA6C;AAC7C,2EAA2E;AAE3E,8EAA8E;AAC9E,MAAM,UAAU,mBAAmB,CAAC,MAAc;IAChD,gCAAgC;IAChC,yDAAyD;IACzD,wDAAwD;IACxD,iEAAiE;IACjE,MAAM,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC,iBAAiB,CAAC,CAAC;IAC1C,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,SAAS,CAAC;AACrC,CAAC;AAED,MAAM,UAAU,eAAe,CAAC,CAK/B;IACC,MAAM,MAAM,GAAG,CAAC,CAAC,SAAS,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;IAC/C,IAAI,MAAM,EAAE,CAAC;QACX,OAAO;YACL,cAAc,EAAE,WAAW,EAAE,SAAS;YACtC,IAAI,EAAE,MAAM;YACZ,IAAI,EAAE,CAAC,CAAC,SAAS;YACjB,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;YACzD,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,WAAW,CAAC;YAC3B,MAAM,EAAE,SAAS,EAAE,UAAU,EAAE,SAAS;YACxC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;YACvC,IAAI,EAAE,CAAC,CAAC,UAAU;SACnB,CAAC;IACJ,CAAC;IACD,uBAAuB;IACvB,MAAM,KAAK,GAAG,CAAC,CAAC,SAAS;QACvB,CAAC,CAAC,SAAS,CAAC,CAAC,SAAS,UAAU,CAAC,CAAC,SAAS,EAAE;QAC7C,CAAC,CAAC,SAAS,CAAC,CAAC,SAAS,EAAE,CAAC;IAC3B,OAAO;QACL,cAAc,EAAE,WAAW,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO;QACrD,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC,WAAW,CAAC;QAC3B,MAAM,EAAE,SAAS,EAAE,UAAU,EAAE,SAAS;QACxC,GAAG,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC;QACvC,IAAI,EAAE,CAAC,CAAC,UAAU;KACnB,CAAC;AACJ,CAAC;AAED,+EAA+E;AAC/E,4EAA4E;AAC5E,2EAA2E;AAC3E,6EAA6E;AAC7E,8EAA8E;AAC9E,gFAAgF;AAChF,sCAAsC;AACtC,EAAE;AACF,iFAAiF;AACjF,+EAA+E;AAC/E,gFAAgF;AAChF,+EAA+E;AAC/E,gFAAgF;AAChF,2EAA2E;AAC3E,uEAAuE;AACvE,MAAM,UAAU,gBAAgB,CAAC,CAAwB;IACvD,MAAM,MAAM,GAAG,CAAC,CAAC,SAAS,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC;IAC/C,IAAI,MAAM,EAAE,CAAC;QACX,OAAO;YACL,cAAc,EAAE,WAAW,EAAE,SAAS;YACtC,IAAI,EAAE,MAAM;YACZ,eAAe,EAAE,OAAO;YACxB,aAAa,EAAE,WAAW;YAC1B,YAAY,EAAE,IAAI;YAClB,IAAI,EAAE,CAAC,CAAC,SAAS;YACjB,eAAe,EAAE,gBAAgB;SAClC,CAAC;IACJ,CAAC;IACD,aAAa;IACb,OAAO;QACL,cAAc,EAAE,WAAW,EAAE,SAAS,EAAE,IAAI,EAAE,OAAO;QACrD,YAAY,EAAE,IAAI,EAAE,aAAa,EAAE,WAAW,EAAE,SAAS,EAAE,OAAO;QAClE,IAAI,EAAE,SAAS,CAAC,CAAC,SAAS,EAAE;QAC5B,eAAe,EAAE,gBAAgB;KAClC,CAAC;AACJ,CAAC;AAUD,qEAAqE;AACrE,6DAA6D;AAC7D,wDAAwD;AACxD,mDAAmD;AACnD,6DAA6D;AAC7D,yDAAyD;AACzD,8DAA8D;AAC9D,MAAM,UAAU,eAAe,CAAC,MAAc;IAC5C,MAAM,KAAK,GAA2B,EAAE,CAAC;IACzC,MAAM,KAAK,GAA2B,EAAE,CAAC;IACzC,IAAI,OAAO,GAA6B,IAAI,CAAC;IAC7C,KAAK,MAAM,IAAI,IAAI,MAAM,CAAC,KAAK,CAAC,OAAO,CAAC,EAAE,CAAC;QACzC,IAAI,6BAA6B,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC;YAAC,OAAO,GAAG,OAAO,CAAC;YAAC,SAAS;QAAC,CAAC;QAC9E,IAAI,6BAA6B,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,CAAC;YAAC,OAAO,GAAG,OAAO,CAAC;YAAC,SAAS;QAAC,CAAC;QAC9E,IAAI,CAAC,OAAO;YAAE,SAAS;QACvB,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,qBAAqB,CAAC,CAAC;QAC5C,IAAI,CAAC,EAAE,CAAC;YACN,MAAM,GAAG,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC;YAC/B,MAAM,IAAI,G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package/dist/codec/commands.d.ts

@@ -101,11 +101,14 @@ export declare const IMAGE_CONTROLS: ImageControl[];
 export declare const percentToRange: (pct: number, min: number, max: number) => number;
 export type AiModeStatus = "no-tracking" | "normal" | "upper-body" | "close-up" | "headless" | "lower-body" | "desk" | "whiteboard" | "hand" | "group" | "unknown";
 export type TrackSpeedStatus = "standard" | "sport" | "unknown";
+export type FovModeStatus = "wide" | "medium" | "narrow" | "custom" | "unknown";
 export interface CameraStatus {
     awake: boolean;
     hdr: boolean;
     faceAe: boolean;
     aiMode: AiModeStatus;
     trackSpeed: TrackSpeedStatus;
+    fovMode: FovModeStatus;
+    zoomPercent: number;
 }
 export declare const decodeStatus: (block: Buffer) => CameraStatus;

package/dist/codec/commands.js

@@ -224,6 +224,14 @@ const STATUS_OFF_AI_MODE_N = 0x1c; // AI mode tuple, second value
 // a constant here). Offset found + value map (0=standard, 2=sport) confirmed on
 // hardware 2026-07-13 against the OBSBOT Center Standard/Sport control.
 const STATUS_OFF_TRACK_SPEED = 0x24;
+// Measured on hardware 2026-07-25 by diffing the raw status block across control
+// changes. block[0x11] is the FOV mode enum (same values as FOV_VALUE), with 3 =
+// the vendor SDK's FovTypeNull, reported when a continuous zoom has overridden
+// the discrete modes. block[0x04] is zoom position, 0-100 over the UVC 1.0-2.0
+// range. NOTE: a sleeping camera serves a stale block — read these only after
+// the readiness gate.
+const STATUS_OFF_FOV_MODE = 0x11;
+const STATUS_OFF_ZOOM_PCT = 0x04;
 const AI_MODE_TABLE = {
     "0,0": "no-tracking",
     "2,0": "normal",
@@ -251,6 +259,12 @@ const TRACK_SPEED_TABLE = {
     0: "standard",
     2: "sport",
 };
+const FOV_MODE_TABLE = {
+    0: "wide",
+    1: "medium",
+    2: "narrow",
+    3: "custom",
+};
 export const decodeStatus = (block) => {
     if (block.length <= STATUS_OFF_TRACK_SPEED) {
         throw new Error(`status block too short: ${block.length} bytes`);
@@ -263,6 +277,8 @@ export const decodeStatus = (block) => {
         faceAe: block[STATUS_OFF_FACE_AE] === 1,
         aiMode: AI_MODE_TABLE[`${m},${n}`] ?? "unknown",
         trackSpeed: TRACK_SPEED_TABLE[block[STATUS_OFF_TRACK_SPEED]] ?? "unknown",
+        fovMode: FOV_MODE_TABLE[block[STATUS_OFF_FOV_MODE]] ?? "unknown",
+        zoomPercent: block[STATUS_OFF_ZOOM_PCT],
     };
 };
 //# sourceMappingURL=commands.js.map

package/dist/codec/commands.js.map

@@ -1 +1 @@
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package/dist/geometry/aim.d.ts

@@ -0,0 +1,226 @@
+import type { FovType } from "../codec/commands.js";
+export interface Frame {
+    width: number;
+    height: number;
+}
+export interface Pose {
+    yaw: number;
+    pitch: number;
+}
+export interface Optics {
+    fov: FovType;
+    /** Zoom factor, >= 1. Zoom is a crop, so it divides the tangent. Defaults to 1. */
+    zoom?: number;
+    /**
+     * Whether the capture path horizontally flips the preview. This inverts the
+     * yaw correction, so it is an explicit input rather than a baked-in
+     * assumption — see the spec's section 3. Defaults to false.
+     */
+    mirrored?: boolean;
+}
+/**
+ * Horizontal field of view of the CAPTURE STREAM for each FOV setting, in
+ * degrees — DERIVED, not three separate measurements.
+ *
+ * Earlier revisions carried wide/medium/narrow as three independently measured
+ * absolutes at +/-3 degrees each. That threw away the most precise thing known
+ * about them: the RATIOS between the modes are measured to ~0.05%, roughly 60x
+ * better than any of the absolutes, so three free values let the modes drift out
+ * of proportion with each other for no reason.
+ *
+ * One anchor plus measured magnifications instead. The anchor's uncertainty
+ * still propagates, but it now moves all three together, which is the honest
+ * representation of what is known.
+ *
+ * MEASURED 2026-07-25 by solving the camera intrinsics from pure gimbal
+ * rotations. A camera that only rotates induces an exact homography
+ * H = K R K^-1 between views, with no dependence on scene depth, so frames at
+ * known gimbal angles determine the focal lengths outright. No distance is
+ * measured anywhere — the gimbal angle is the ruler. That is what makes this
+ * tighter than the tape-measured letter sheet behind the old +/-3 degrees.
+ *
+ * Six rotations (pitch +/-10, +/-20; yaw +/-10) over a static scene, 313-1243
+ * inliers each, gave fx = 1452-1455 px on a 1920-wide frame across every subset
+ * — a spread of 0.2% — which is HFOV 66.84-66.90. Rounded to 67. This also
+ * independently reproduces an earlier pan-and-track measurement of 66.4.
+ *
+ * The per-mode magnifications come from fitting a similarity transform between
+ * frames at each setting on a fixed scene (275 and 683 inliers, 0.48 and 0.44 px
+ * residual). They are pure ratios, so they are unaffected by which capture
+ * format the measurement went through — which matters, because the 1080p pixel
+ * formats do NOT share a field of view (see the note on the capture path below).
+ *
+ * Verified head-to-head on hardware, same feature and same start pose with only
+ * the constant differing: a target at u = +0.91 left a yaw residual of -0.823
+ * degrees under the old 68 and -0.274 under 67.
+ *
+ * CAPTURE FORMAT WARNING: MJPEG 1920x1080 is a 1.201x crop of YUYV 1920x1080 on
+ * this camera — same resolution, different window onto the sensor. These
+ * constants describe the WIDE field, which is what `obsbot_capture_snapshot`
+ * delivers. `obsbot_capture_preview` pins MJPEG and therefore shows ~20% less.
+ * Any future measurement through ffmpeg must state its pixel format; a
+ * resolution alone does not identify the field.
+ *
+ * SCOPE: 16:9 capture at any resolution. A 4:3 path would need re-measuring.
+ */
+export declare const WIDE_HFOV_DEG = 67;
+/**
+ * Linear magnification of each FOV setting relative to the wide field.
+ *
+ * MEASURED 2026-07-25. These are the precise part of the pair: the ratios are
+ * good to ~0.05% where the anchor above is good to perhaps 0.5%.
+ *
+ * The continuous zoom writes to this same scale rather than multiplying on top
+ * of it — `narrow` plus zoom ratio 1.5 measures 2.509, the same as `wide` plus
+ * 1.5 (2.501), not 1.47 x 2.5. The discrete modes and the zoom control are two
+ * ways of writing to one magnification scale, which is why setting zoom ratio
+ * 1.0 does not reliably clear `custom`: it is the same optical state as `wide`.
+ */
+export declare const FOV_MAGNIFICATION: Record<FovType, number>;
+export declare const HORIZONTAL_FOV_DEG: Record<FovType, number>;
+/**
+ * Empirical correction applied on top of the aspect-derived vertical half-angle.
+ * MEASURED, not geometric.
+ *
+ * Square-pixel geometry says tan(V) = tan(H) * (height/width) — 0.5625 at 16:9.
+ * Hardware says the vertical field is shorter than that; this factor carries the
+ * difference.
+ *
+ * MEASURED 2026-07-25 from the same intrinsics solve as WIDE_HFOV_DEG above.
+ * fy came out 1502-1520 px across every subset of six rotations, implying this
+ * factor at 0.957-0.967. Rounded to 0.957.
+ *
+ * This REPLACES an earlier value of 0.898, which was 7% low. That figure came
+ * from a measurement this project's own history recorded as inconclusive: the
+ * constant itself was off by about 6.2%, versus the ~4.3% effect it was trying
+ * to capture — roughly 1.4x the effect itself, not an order of magnitude off.
+ *
+ * The up/down asymmetry is ~1%, not the ~5% once believed: solving from the
+ * up-tilt alone gives 0.957 and from the down-tilt alone 0.967. One constant
+ * captures that comfortably. Do NOT reintroduce a two-branch vertical constant
+ * on the strength of the old figure. Both candidate explanations for a genuine
+ * asymmetry were tested and eliminated — the principal point is centred (cx, cy
+ * within a few px of frame centre in every solve) and radial distortion is
+ * negligible (k1 ~= -0.02).
+ *
+ * Verified head-to-head on hardware, same feature and same start pose with only
+ * this constant differing: a target at v = -0.83 left a pitch residual of -0.597
+ * degrees under 0.898 and +0.072 under 0.957, an 8x improvement that lands
+ * inside the noise.
+ *
+ * Known limit: the intrinsics fit carries 2.4-2.8 px rms, not sub-pixel, so
+ * something is unmodelled — most likely the entrance pupil sitting off the
+ * gimbal's rotation axes, which translates the lens as it turns and is
+ * depth-dependent. Sampling was symmetric so it should not bias fx or fy, but do
+ * not claim more precision than that.
+ *
+ * SCOPE: measured on the 16:9 capture path. A 4:3 path needs its own measurement.
+ */
+export declare const VERTICAL_TANGENT_CORRECTION = 0.957;
+/** Effective half-angles of the visible field, in degrees, after zoom and aspect. */
+export declare function halfAngles(optics: Optics, frame: Frame): {
+    h: number;
+    v: number;
+};
+export interface Offset {
+    dYaw: number;
+    dPitch: number;
+}
+/**
+ * Convert a pixel in a captured frame to the yaw/pitch delta that would bring
+ * that point to the center of frame, treating each axis independently.
+ *
+ * PER-AXIS ONLY — this does NOT account for axis coupling. The gimbal's yaw
+ * axis is world-vertical, so yawing while pitched sweeps a cone; the two axes
+ * commute only at zero pitch or zero horizontal offset (see `aimAtPixel`,
+ * which composes a rotation instead and is what every tool actually points
+ * the camera with). Adding this function's dYaw/dPitch to a pose that is not
+ * level reproduces the additive bug `aimAtPixel` was fixed to remove. It is
+ * used only by tests now, to pin the per-axis tangent mapping in isolation
+ * from the coupling — do not reach for it as a general "point the camera"
+ * answer.
+ *
+ * A rectilinear lens maps angle through a tangent: tan(theta) = u * tan(hfov/2),
+ * where u is the normalized offset from center. The linear approximation is
+ * exact at the center and again at the edge, and wrong in between — always low,
+ * peaking near 1.58 degrees at u ~= 0.55 on the wide setting (WIDE_HFOV_DEG =
+ * 67). That error is the difference between landing on target and visibly
+ * hunting, so the tangent form is not optional.
+ *
+ * Signs: +yaw pans camera-LEFT and image x grows rightward, so the yaw term is
+ * negated. +pitch tilts DOWN and image y grows downward, so the pitch term is
+ * not. Both conventions are hardware-verified.
+ */
+export declare function pixelToOffset(x: number, y: number, frame: Frame, optics: Optics): Offset;
+/**
+ * Mechanical limits of the Tiny 2's gimbal, in degrees. Hardware-verified.
+ *
+ * These live here rather than in the tool layer so there is exactly one
+ * definition: `obsbot_gimbal_move` imports them for its own clamping. Two copies
+ * of a bound that must agree is a defect waiting to happen.
+ *
+ * ±150 is the mechanical yaw range on EVERY platform, and these limits are not
+ * platform-conditional. Measured 2026-07-25: commanded 145 reads back 145, and
+ * 150 reads back 149. Position feedback comes from the camera's physical
+ * encoder, which is a property of the hardware and does not vary by OS.
+ *
+ * Do not "fix" this to 130. `transport/linux.ts` and `transport/macos.ts` record
+ * a `CT_PANTILT_ABSOLUTE` range of ±468000 arcsec = ±130°, which reads like a
+ * conflict and was raised as one during review. It is not: that is the range the
+ * UVC control *advertises* — a descriptor value that under-reports the mechanism
+ * it describes — not where the gimbal stops. Nothing clamps to it either;
+ * `LinuxTransport.gimbalSet` writes `yawDeg * ARCSEC_PER_DEG` unclamped, so the
+ * arcsec figure lives only in comments. See the spec's §8.
+ */
+export declare const GIMBAL_YAW_LIMIT_DEG = 150;
+export declare const GIMBAL_PITCH_LIMIT_DEG = 90;
+export interface Aim {
+    target: Pose;
+    /**
+     * The rotation REQUESTED to reach the raw, unclamped target —
+     * `rawTarget - current` — not the rotation actually applied. When `clamped`
+     * is true, `target` stops short of `current + offset`; `offset` still
+     * reports what was asked for, not what the gimbal was told to do.
+     */
+    offset: Offset;
+    /** True if either axis saturated, meaning the target was not reachable. */
+    clamped: boolean;
+    /**
+     * True when the target ray's horizontal direction points opposite the
+     * camera's current heading — an "over the top" solution. The pixel lies
+     * past vertical from the current pose and is not reachable by any rotation
+     * that keeps the image upright; clamping it to the nearest yaw would slew
+     * the camera toward the far side of the room, not toward the target.
+     */
+    overTheTop: boolean;
+}
+/**
+ * Absolute pose that brings the given pixel to the centre of frame.
+ *
+ * Composes a rotation rather than adding two scalars. The gimbal's yaw axis is
+ * world-vertical, so yawing while pitched sweeps a CONE: the two rotations do
+ * not commute, and `target = current + offset` is exact only at zero pitch or
+ * zero horizontal offset. Adding them cost 0.98 degrees at pitch 7.6 / yaw 31 on
+ * hardware, against `pitch * (1 - cos yaw)` = 1.09 predicted.
+ *
+ * The ray to the target in camera coordinates (x right, y down, z forward) is
+ * rotated into world coordinates by the current orientation, and the target pose
+ * is read back off that direction. The two axes reduce to the old additive sum
+ * under DIFFERENT conditions, not the same one: yaw reduces exactly to the old
+ * sum whenever pitch = 0, for any pixel, because yaw and pitch commute at zero
+ * tilt. Pitch reduces to the old sum only when u = 0 (the pixel sits on the
+ * vertical centre line) — composed pitch is asin(dy/n) where n includes dx, so
+ * away from u = 0 it differs from the old atan(dy) even when pitch is 0. That is
+ * what the invariant tests pin.
+ *
+ * Saturation is REPORTED, not silent: if the target lies outside the gimbal's
+ * range the caller has to know it landed short rather than assume the aim
+ * succeeded, since a silent clamp presents as "the camera aimed and missed".
+ *
+ * `current` must be where the camera actually was when the frame was captured.
+ * The module cannot verify that — see the spec's section 5 for what breaks it.
+ * Note that on Windows the pose the caller reads is FLOORED to whole degrees
+ * (spec section 4.2), which costs up to another degree; that is a separate
+ * defect in the pose source, not in this function.
+ */
+export declare function aimAtPixel(x: number, y: number, frame: Frame, optics: Optics, current: Pose): Aim;