obsbot-mcp 0.6.2 → 0.7.0

package/README.md

@@ -60,7 +60,9 @@ With the installed binary, use `"command": "obsbot-mcp"` and `"args": ["--debug"
 
 ## Tools
 
-36 tools total. All names below are current as of v0.4.0 — **every tool was renamed in this
+35 tools on Windows and macOS, 34 on Linux (`obsbot_gimbal_move_speed` is unavailable there — see
+[limitations](#linux-gimbal-position-feedback-is-not-live)). `--debug` adds `obsbot_debug_probe` for
+one more. 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.
 

package/dist/mcp/server.js

@@ -9,6 +9,7 @@ import { createTools } from "./tools.js";
 import { renderToolResult } from "./render.js";
 import { CaptureManager } from "../capture/manager.js";
 import { Coordinator, serialize } from "../ipc/coordinator.js";
+import { VERSION } from "../version.js";
 export async function startServer(opts = {}) {
     // helperFactory subscribes every helper it spawns to the OS bus events, so
     // the manager hears about a camera arriving or leaving instead of finding
@@ -70,8 +71,8 @@ export async function startServer(opts = {}) {
     process.on("SIGINT", () => { shutdown(); process.exit(0); });
     process.on("SIGTERM", () => { shutdown(); process.exit(0); });
     const server = new Server(
-    // Must match package.json's version; test/version-sync.test.ts enforces it.
-    { name: "obsbot-mcp", version: "0.6.2" }, { capabilities: { tools: {} } });
+    // VERSION is generated from package.json — see scripts/sync-version.mjs.
+    { name: "obsbot-mcp", version: VERSION }, { capabilities: { tools: {} } });
     server.setRequestHandler(ListToolsRequestSchema, async () => ({
         tools: tools.map((tool) => ({
             name: tool.name,

package/dist/mcp/server.js.map

@@ -1 +1 @@
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package/dist/mcp/tools.d.ts

@@ -55,6 +55,12 @@ export interface PresetReadOpts {
     attempts?: number;
     backoffMs?: number[];
 }
+export interface PoseSettleOpts {
+    pollMs?: number;
+    timeoutMs?: number;
+    /** Beat between the two pose reads that decide whether the gimbal is moving. */
+    motionPollMs?: number;
+}
 export interface ZoomSettleOpts {
     pollMs?: number;
     timeoutMs?: number;

package/dist/mcp/tools.js

@@ -356,6 +356,115 @@ const napMs = (ms) => new Promise((r) => setTimeout(r, ms));
 // reflects the last commanded pose) without implying precision the readout
 // doesn't have.
 const round2 = (deg) => Math.round(deg * 100) / 100;
+// motionPollMs is the sensitivity knob, same idea as readSteadyStatus: a beat of
+// B ms detects any slew faster than POSE_STEADY_TOLERANCE_DEG * 1000/B deg/s.
+// 120ms with a 1° band => 8.3 deg/s, against a measured gimbalSet slew of ~50
+// deg/s (2026-08-21: a 90° pan took ~1.7s) — six times the threshold, while
+// costing each aim one extra pose read and 120ms.
+const POSE_SETTLE_DEFAULTS = {
+    pollMs: 100,
+    timeoutMs: 3000,
+    motionPollMs: 120,
+};
+// The band cannot be zero the way readSteadyStatus's is. A settled gimbal does
+// NOT read identically every time: holding position, this camera dithers by one
+// 3600 arc-second step (measured 2026-08-21: tilt read 40.0, 40.0, 41.0, 40.0
+// while mechanically stationary). One degree is that dither exactly, and the
+// hardware readout is only accurate to ±1° anyway, so a tighter band would spin
+// until the deadline on a camera that is not moving at all.
+const POSE_STEADY_TOLERANCE_DEG = 1;
+/**
+ * RELEASE GATE. Settling runs only where pose reads report LIVE position, decided
+ * by t.livePoseReads(): OBSBOT_LIVE_POSE forces it either way, otherwise the
+ * transport detects it (Linux probes read latency; macOS/Windows default off).
+ *
+ * The hazard readSteadyPose addresses only exists where pose reads report LIVE
+ * position. Today that is macOS always, and Linux only on a kernel carrying the
+ * uvcvideo AUTO_UPDATE fixup for 3564:fef8 or the volatile patch — neither of
+ * which is upstream yet. On a stock Linux kernel the read is a commanded echo,
+ * settling changes no result, and the only effect is +motionPollMs on every aim
+ * and preset write. So the default stays off and shipped behaviour is unchanged
+ * on every platform.
+ *
+ * FLIP THE DEFAULT when the uvcvideo change lands upstream. Auto-detection is
+ * not available and is not worth building: the fixup restores AUTO_UPDATE
+ * WITHOUT advertising V4L2_CTRL_FLAG_VOLATILE, so the flag cannot distinguish it
+ * from a stock kernel, and the Linux helper's `flags` field carries a
+ * DirectShow-style auto/manual indicator rather than V4L2 control flags anyway.
+ *
+ * macOS is gated too, deliberately. It reads live and therefore has this bug
+ * today, but its behaviour is hardware-verified as shipped and this is not the
+ * change to unverify it in — enable the env var there once it has been exercised
+ * on Mac hardware.
+ *
+ * The same gate also enables LinuxTransport's closed-loop move retry; the flag
+ * itself lives in transport/transport.ts so both sides read one switch.
+ */
+/**
+ * Read the gimbal pose, and refuse to hand it back while the gimbal is still
+ * travelling.
+ *
+ * WHY THIS EXISTS. `aimAtPixel` and preset save/update do not use the pose as a
+ * report — they compose a NEW ABSOLUTE TARGET from it. A pose read mid-slew
+ * therefore does not merely look wrong, it lands the camera somewhere it was
+ * never asked to go: the composed target is short by exactly the distance the
+ * gimbal still had left to travel.
+ *
+ * This was invisible before 2026-08-21 because on Linux it could not happen.
+ * uvcvideo served CT_PANTILT_ABSOLUTE from its own cache, so a read taken during
+ * a move returned the last COMMANDED pose — the very thing the composition
+ * wanted — and the bug was masked by a driver defect. macOS has always read live
+ * and has always been exposed. Once the Linux driver reports true position (the
+ * uvcvideo AUTO_UPDATE fixup, or the pending volatile patch — see
+ * UVCVIDEO-LINUX-POSITION-2026-07-21.md), Linux is exposed too. Measured on
+ * hardware: five reads issued immediately after commanding a 90° pan returned
+ * 0.0, 18.0, 37.0, 60.0, 79.0 — five different intermediate poses, any of which
+ * would have been composed against.
+ *
+ * Correct on BOTH kernels, which is why it is unconditional rather than gated on
+ * a capability. Where the read is a cached setpoint, the two reads agree on the
+ * first beat and this returns after one `motionPollMs` with the same value the
+ * old code would have used. Where the read is live, it waits for arrival.
+ *
+ * Returns `settled` rather than throwing on timeout, matching waitForZoomSettle:
+ * a gimbal still moving after the bound is information the caller may want to
+ * act on, and the pose returned is still the freshest one available. Read
+ * failures are NOT swallowed here — unlike the zoom settle, which runs after the
+ * write it reports on, this runs BEFORE the move it feeds, and composing a
+ * target from a pose we failed to read is exactly the outcome to avoid.
+ */
+async function readSteadyPose(t, opts = {}) {
+    const { pollMs, timeoutMs, motionPollMs } = { ...POSE_SETTLE_DEFAULTS, ...opts };
+    const deadline = Date.now() + timeoutMs;
+    // UVC pan is degrees with our yaw sign (+ = camera-left); UVC tilt is degrees
+    // but positive = up, so negate to match our +pitch = down convention. Same
+    // read path and same signs as obsbot_gimbal_position.
+    const readPose = async () => ({
+        yaw: (await t.camCtrlGet(CAMERA_CONTROL_PAN)).value,
+        pitch: -(await t.camCtrlGet(CAMERA_CONTROL_TILT)).value,
+    });
+    if (!(await t.livePoseReads())) {
+        // Reads are a commanded echo (or the caller forced the gate off): one read,
+        // exactly as before this helper existed. `settled` is an assumption here,
+        // not a measurement — it reports "safe to compose" because on an echo kernel
+        // it is, not because motion was checked.
+        const only = await readPose();
+        return { yaw: only.yaw, pitch: only.pitch, settled: true };
+    }
+    let last = await readPose();
+    for (;;) {
+        await napMs(motionPollMs);
+        const next = await readPose();
+        const steady = Math.abs(next.yaw - last.yaw) <= POSE_STEADY_TOLERANCE_DEG &&
+            Math.abs(next.pitch - last.pitch) <= POSE_STEADY_TOLERANCE_DEG;
+        if (steady)
+            return { yaw: next.yaw, pitch: next.pitch, settled: true };
+        last = next;
+        if (Date.now() >= deadline)
+            return { yaw: next.yaw, pitch: next.pitch, settled: false };
+        await napMs(pollMs);
+    }
+}
 // motionPollMs is the sensitivity knob for readSteadyStatus: zoomPercent is an
 // integer, so a beat of B ms detects any ramp travelling faster than 1000/B
 // percentage points per second. 80ms => 12.5 pt/s, against a measured UVC ramp of
@@ -1060,10 +1169,10 @@ export function createTools(mgr, capture, debug = false, presetRead = {}, zoomSe
                     };
                 }
                 const magnification = resolved.magnification;
-                // Same read path as obsbot_gimbal_position: UVC pan is degrees with our
-                // yaw sign; UVC tilt is degrees but positive = up, so negate it.
-                const yaw = (await t.camCtrlGet(CAMERA_CONTROL_PAN)).value;
-                const pitch = -(await t.camCtrlGet(CAMERA_CONTROL_TILT)).value;
+                // Settled pose, not a bare read: this becomes a composed absolute target
+                // below, so a mid-slew reading would aim short by whatever travel was
+                // left. See readSteadyPose.
+                const { yaw, pitch } = await readSteadyPose(t);
                 // resolveMagnification already folded fovMode and zoomPercent into one
                 // number — a discrete mode's inherent crop and a continuous zoom are two
                 // ways of writing to the SAME scale, so there is nothing left to combine.
@@ -1192,9 +1301,9 @@ export function createTools(mgr, capture, debug = false, presetRead = {}, zoomSe
                     };
                 }
                 const magnification = resolved.magnification;
-                // Same read path as obsbot_gimbal_position / obsbot_aim_at_pixel.
-                const yaw = (await t.camCtrlGet(CAMERA_CONTROL_PAN)).value;
-                const pitch = -(await t.camCtrlGet(CAMERA_CONTROL_TILT)).value;
+                // Same read path as obsbot_aim_at_pixel, and settled for the same reason:
+                // this pose is composed into an absolute target, not reported.
+                const { yaw, pitch } = await readSteadyPose(t);
                 // Aim uses the CURRENT magnification: it has to match the optics the
                 // caller's frame was actually captured at, not the new fitted zoom.
                 const centerX = x + width / 2;
@@ -1287,11 +1396,10 @@ export function createTools(mgr, capture, debug = false, presetRead = {}, zoomSe
                     if (before[slot - 1].occupied) {
                         return { ok: false, error: `slot ${slot} is occupied; update or delete first` };
                     }
-                    // Mirror obsbot_gimbal_position's read path exactly: UVC pan is degrees, same
-                    // sign as our yaw; UVC tilt is degrees but positive = up, so negate to match
-                    // our +pitch = down convention.
-                    const yaw = (await t.camCtrlGet(CAMERA_CONTROL_PAN)).value;
-                    const pitch = -(await t.camCtrlGet(CAMERA_CONTROL_TILT)).value;
+                    // Settled pose: a preset is a pose the user will RECALL later, so saving
+                    // one sampled mid-slew bakes an arbitrary waypoint into the slot
+                    // permanently. See readSteadyPose.
+                    const { yaw, pitch } = await readSteadyPose(t);
                     // T6: ObsbotTransport exposes no zoom getter, so the live zoom ratio can't be
                     // read back here — zoom is hardcoded to 1 rather than guessed. Not an oversight.
                     pose = { pan: yaw, tilt: pitch, roll: 0, zoom: 1 };
@@ -1377,11 +1485,9 @@ export function createTools(mgr, capture, debug = false, presetRead = {}, zoomSe
                     // handing it back costs nothing and is the only restore path the caller has:
                     // the device keeps no history and UPDATE is not reversible.
                     previous = before[slot - 1].pose;
-                    // Mirror obsbot_preset_save's read path exactly: UVC pan is degrees, same sign as
-                    // our yaw; UVC tilt is degrees but positive = up, so negate to match our +pitch =
-                    // down convention.
-                    const yaw = (await t.camCtrlGet(CAMERA_CONTROL_PAN)).value;
-                    const pitch = -(await t.camCtrlGet(CAMERA_CONTROL_TILT)).value;
+                    // Mirror obsbot_preset_save's read path exactly, settled for the same
+                    // reason: this pose is written into the slot, not reported.
+                    const { yaw, pitch } = await readSteadyPose(t);
                     // T6: ObsbotTransport exposes no zoom getter, so the live zoom ratio can't be
                     // read back here — zoom is hardcoded to 1 rather than guessed. Not an oversight.
                     pose = { pan: yaw, tilt: pitch, roll: 0, zoom: 1 };

package/dist/mcp/tools.js.map

@@ -1 +1 @@
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package/dist/transport/helper-process.d.ts

@@ -41,6 +41,17 @@ export declare class HelperProcess {
     zoomSet(units: number): Promise<void>;
     snapshot(opts: SnapshotOpts): Promise<Snapshot>;
     camCtrlSet(property: number, value: number, flags: number): Promise<void>;
+    /**
+     * Absolute pan+tilt in one VIDIOC_S_EXT_CTRLS, in V4L2 arc-seconds.
+     *
+     * Not a convenience wrapper over two `camCtrlSet` calls — the single ioctl is
+     * what stops uvcvideo's read-modify-write from cancelling half the move. See
+     * `v4l2_set_pantilt()` in native/linux/helper.c.
+     *
+     * Linux-only: it exists to work around a uvcvideo-specific hazard, and the
+     * Windows and macOS helpers have no `pantilt_set` op.
+     */
+    panTiltSet(pan: number, tilt: number): Promise<void>;
     camCtrlRange(property: number): Promise<{
         min: number;
         max: number;
@@ -49,6 +60,17 @@ export declare class HelperProcess {
         value: number;
         flags: number;
     }>;
+    /**
+     * Time repeated GET_CUR reads of a camera control, in the helper (C), so the
+     * ~150us cache-vs-live signal is not buried by this JSON-RPC round trip. Used
+     * by LinuxTransport.livePoseReads to detect a live-reading kernel without
+     * moving the gimbal. Reads only.
+     */
+    readLatency(property: number, samples?: number): Promise<{
+        meanUs: number;
+        minUs: number;
+        maxUs: number;
+    }>;
     procAmpSet(property: number, value: number, flags: number): Promise<void>;
     procAmpRange(property: number): Promise<{
         min: number;

package/dist/transport/helper-process.js

@@ -255,6 +255,19 @@ export class HelperProcess {
     async camCtrlSet(property, value, flags) {
         await this.rpc({ op: "camctrl_set", property, value, flags });
     }
+    /**
+     * Absolute pan+tilt in one VIDIOC_S_EXT_CTRLS, in V4L2 arc-seconds.
+     *
+     * Not a convenience wrapper over two `camCtrlSet` calls — the single ioctl is
+     * what stops uvcvideo's read-modify-write from cancelling half the move. See
+     * `v4l2_set_pantilt()` in native/linux/helper.c.
+     *
+     * Linux-only: it exists to work around a uvcvideo-specific hazard, and the
+     * Windows and macOS helpers have no `pantilt_set` op.
+     */
+    async panTiltSet(pan, tilt) {
+        await this.rpc({ op: "pantilt_set", pan, tilt });
+    }
     async camCtrlRange(property) {
         const resp = await this.rpc({ op: "camctrl_range", property });
         return { min: resp.min, max: resp.max };
@@ -263,6 +276,16 @@ export class HelperProcess {
         const resp = await this.rpc({ op: "camctrl_get", property });
         return { value: resp.value, flags: resp.flags };
     }
+    /**
+     * Time repeated GET_CUR reads of a camera control, in the helper (C), so the
+     * ~150us cache-vs-live signal is not buried by this JSON-RPC round trip. Used
+     * by LinuxTransport.livePoseReads to detect a live-reading kernel without
+     * moving the gimbal. Reads only.
+     */
+    async readLatency(property, samples = 40) {
+        const resp = await this.rpc({ op: "read_latency", property, samples });
+        return { meanUs: resp.meanUs, minUs: resp.minUs, maxUs: resp.maxUs };
+    }
     async procAmpSet(property, value, flags) {
         await this.rpc({ op: "procamp_set", property, value, flags });
     }