obsbot-mcp 0.6.2 → 0.7.0

package/dist/transport/helper-process.js.map

@@ -1 +1 @@
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package/dist/transport/linux.d.ts

@@ -9,15 +9,30 @@ import { ObsbotTransport, Snapshot, SnapshotOpts } from "./transport.js";
  * Key difference: gimbal absolute movement uses V4L2 pan_absolute/tilt_absolute
  * (hardware-verified to physically move the gimbal, repeatedly, 2026-07-21),
  * NOT vendor V3 frames. camCtrlGet for pan/tilt reads back the same V4L2
- * controls — this is the last-*commanded* value, not a live in-flight
- * reading: VIDIOC_QUERY_EXT_CTRL reports these controls as non-volatile on
- * this kernel, so V4L2 core serves its own cache rather than re-querying the
- * device. Getting a genuinely live reading requires a raw USB read with the
- * kernel driver briefly detached, which conflicts with any concurrent video
- * capture (preview/recording) and was deliberately dropped from the shipped
- * transport for that reason — see README's Linux limitations section. A
- * kernel patch marking these controls volatile would fix this at the source;
- * until then, gimbal moves on Linux are open-loop, same as the position read.
+ * controls.
+ *
+ * WHAT THAT READ MEANS DEPENDS ON THE KERNEL, and callers must tolerate both:
+ *
+ *   - Stock uvcvideo: the last-*commanded* value. This camera's GET_INFO is a
+ *     stub reporting GET|SET only, which strips the UVC_CTRL_FLAG_AUTO_UPDATE
+ *     that uvcvideo's own control table sets for CT_PANTILT_ABSOLUTE. Nothing
+ *     then clears ctrl->loaded, so the cache is served forever. Verified
+ *     2026-08-21: with the camera physically moved by hand, an unpatched driver
+ *     kept reporting the stale pose indefinitely.
+ *   - uvcvideo carrying the AUTO_UPDATE fixup for 3564:fef8, or the pending
+ *     volatile patch: a genuinely LIVE position, tracking motion the host never
+ *     commanded. Verified the same day against hand-moved poses on both axes.
+ *
+ * Neither is detectable from userspace: the fixup restores AUTO_UPDATE without
+ * advertising V4L2_CTRL_FLAG_VOLATILE, so QUERY_EXT_CTRL reports these controls
+ * as non-volatile in BOTH cases. Do not branch on that flag. Code that composes
+ * a new absolute target from the current pose must instead settle first — see
+ * readSteadyPose in mcp/tools.ts — which is correct under either kernel. Moves
+ * themselves are closed-loop when OBSBOT_LIVE_POSE is set: see panTiltAbsolute.
+ *
+ * The old raw-USB alternative (detach the driver, read directly) is still
+ * unnecessary and still conflicts with concurrent capture; see README's Linux
+ * limitations section.
  */
 export declare class LinuxTransport implements ObsbotTransport {
     private helper;
@@ -58,6 +73,65 @@ export declare class LinuxTransport implements ObsbotTransport {
      * V4L2 tilt_absolute + = tilt up (opposite of our +pitch = down convention).
      */
     gimbalSet(yawDeg: number, pitchDeg: number, _rollDeg?: number): Promise<void>;
+    /**
+     * Commit an absolute pan+tilt pose (V4L2 arc-seconds) in a single ioctl.
+     *
+     * The two axes are ONE UVC control (CT_PANTILT_ABSOLUTE, 8 bytes) that
+     * uvcvideo exposes as two V4L2 controls, so a write naming a single axis
+     * read-modify-writes the other from a source chosen by the device's GET_INFO
+     * bits. When that source is a live GET_CUR, it is sampled while the first
+     * axis is still travelling and commits that axis back to where it started —
+     * the move is silently half-cancelled. This code used to issue two parallel
+     * `camCtrlSet` calls and hit exactly that: measured on this camera whenever
+     * uvcvideo probed it asleep and pan/tilt kept UVC_CTRL_FLAG_AUTO_UPDATE.
+     * Full writeup in UVCVIDEO-LINUX-POSITION-2026-07-21.md sections 4.1 and 9.
+     *
+     * Sending both axes together makes the hazard unreachable rather than
+     * unlikely, and needs nothing from the pending kernel patch — it is a fix on
+     * stock kernels.
+     *
+     * The fallback keeps older helper binaries working: `pantilt_set` is newer
+     * than the rest of the stdio surface, and a user whose npm package updated
+     * without the native helper being rebuilt would otherwise lose gimbal
+     * movement entirely. Degraded, not broken — the old path still moves the
+     * gimbal, it just carries the cancellation risk it always did.
+     */
+    private panTiltAbsolute;
+    /** Number of closed-loop re-sends this transport has issued. Diagnostics/tests. */
+    get moveRetries(): number;
+    private moveRetryCount;
+    /**
+     * Whether this kernel's uvcvideo serves pan/tilt reads LIVE from the device
+     * rather than from its own cache — the condition under which the pose-settle
+     * and move-retry paths are correct and useful.
+     *
+     * OBSBOT_LIVE_POSE forces the answer either way. Unset, we PROBE: time a batch
+     * of GET_CUR reads in the helper and compare the mean to LIVE_READ_THRESHOLD_US.
+     * This detects the actual behaviour (are reads live) rather than a flag or a
+     * kernel version, so it fires for Ricardo's AUTO_UPDATE quirk (which advertises
+     * nothing), for the volatile patch, and for any future fix alike — and it is
+     * immune to the stable-backport and distro-versioning traps that make a
+     * uname-based gate wrong on exactly the kernels most users run.
+     *
+     * Cached for the transport's lifetime: the kernel does not change under us, and
+     * the probe reads the device a few dozen times. A probe failure (an older
+     * helper with no read_latency op, or an unreadable control) resolves to the
+     * override, or false — degrading to today's shipped behaviour, never throwing.
+     */
+    livePoseReads(): Promise<boolean>;
+    private livePoseReadsCache?;
+    private detectLivePoseReads;
+    private commitPanTilt;
+    private onTarget;
+    /** Raw arc-seconds straight from the helper — no degree conversion, no rounding. */
+    private readPanTilt;
+    /**
+     * Wait until two consecutive pan/tilt reads agree within one step on both
+     * axes, i.e. the gimbal has stopped. Returns the settled pose, or null if it
+     * was still moving at the deadline. Read failures propagate: a move we cannot
+     * verify should surface, not be silently declared done.
+     */
+    private settlePanTilt;
     /**
      * Drive the gimbal at a speed for a duration, using vendor-frame velocity
      * protocol (fire-and-forget, no position readback). Not reachable from the

package/dist/transport/linux.js

@@ -1,3 +1,4 @@
+import { livePoseOverride } from "./transport.js";
 import { encodePtzMoveSpeed } from "../codec/commands.js";
 import { readSerialVia } from "./read-serial.js";
 const VENDOR_XU_SELECTOR = 0x02;
@@ -18,6 +19,24 @@ const STATUS_BLOCK_LEN = 60;
 // always reported 0 error while the true physical angle was ~28% of what was asked
 // for.
 const ARCSEC_PER_DEG = 3600;
+// Closed-loop move verification (OBSBOT_LIVE_POSE only) — see panTiltAbsolute.
+// The device's GET_RES for CT_PANTILT_ABSOLUTE is one degree and it routinely
+// lands one step short of a commanded target (measured 2026-08-21: -324000 asec
+// commanded, -320400 reached, repeatably), so "on target" is within one step.
+const PANTILT_STEP_ASEC = 3600;
+// A slew starts within ~150ms of the commit and a 90° pan takes ~1.7s; the first
+// settle read waits out the dead zone so two agreeing reads mean "stopped", not
+// "not started yet".
+const SETTLE_FIRST_READ_MS = 250;
+const SETTLE_BEAT_MS = 150;
+const SETTLE_TIMEOUT_MS = 3000;
+// Read-latency threshold (microseconds) separating a CACHED pan/tilt read from a
+// LIVE one. Measured 2026-08-21 on this camera: cached reads are a driver memcpy
+// at ~2us and pinned flat; live reads are a USB GET_CUR at ~150us and never below
+// ~115us. 40us sits ~20x above the cached ceiling and ~3x below the live floor —
+// orders of magnitude of margin either way. See do_read_latency in
+// native/linux/helper.c and LinuxTransport.livePoseReads.
+const LIVE_READ_THRESHOLD_US = 40;
 /**
  * Linux V4L2 transport — functionally identical to {@link WindowsTransport}
  * because both delegate to the native helper process over the same JSON-RPC
@@ -27,15 +46,30 @@ const ARCSEC_PER_DEG = 3600;
  * Key difference: gimbal absolute movement uses V4L2 pan_absolute/tilt_absolute
  * (hardware-verified to physically move the gimbal, repeatedly, 2026-07-21),
  * NOT vendor V3 frames. camCtrlGet for pan/tilt reads back the same V4L2
- * controls — this is the last-*commanded* value, not a live in-flight
- * reading: VIDIOC_QUERY_EXT_CTRL reports these controls as non-volatile on
- * this kernel, so V4L2 core serves its own cache rather than re-querying the
- * device. Getting a genuinely live reading requires a raw USB read with the
- * kernel driver briefly detached, which conflicts with any concurrent video
- * capture (preview/recording) and was deliberately dropped from the shipped
- * transport for that reason — see README's Linux limitations section. A
- * kernel patch marking these controls volatile would fix this at the source;
- * until then, gimbal moves on Linux are open-loop, same as the position read.
+ * controls.
+ *
+ * WHAT THAT READ MEANS DEPENDS ON THE KERNEL, and callers must tolerate both:
+ *
+ *   - Stock uvcvideo: the last-*commanded* value. This camera's GET_INFO is a
+ *     stub reporting GET|SET only, which strips the UVC_CTRL_FLAG_AUTO_UPDATE
+ *     that uvcvideo's own control table sets for CT_PANTILT_ABSOLUTE. Nothing
+ *     then clears ctrl->loaded, so the cache is served forever. Verified
+ *     2026-08-21: with the camera physically moved by hand, an unpatched driver
+ *     kept reporting the stale pose indefinitely.
+ *   - uvcvideo carrying the AUTO_UPDATE fixup for 3564:fef8, or the pending
+ *     volatile patch: a genuinely LIVE position, tracking motion the host never
+ *     commanded. Verified the same day against hand-moved poses on both axes.
+ *
+ * Neither is detectable from userspace: the fixup restores AUTO_UPDATE without
+ * advertising V4L2_CTRL_FLAG_VOLATILE, so QUERY_EXT_CTRL reports these controls
+ * as non-volatile in BOTH cases. Do not branch on that flag. Code that composes
+ * a new absolute target from the current pose must instead settle first — see
+ * readSteadyPose in mcp/tools.ts — which is correct under either kernel. Moves
+ * themselves are closed-loop when OBSBOT_LIVE_POSE is set: see panTiltAbsolute.
+ *
+ * The old raw-USB alternative (detach the driver, read directly) is still
+ * unnecessary and still conflicts with concurrent capture; see README's Linux
+ * limitations section.
  */
 export class LinuxTransport {
     helper;
@@ -83,24 +117,31 @@ export class LinuxTransport {
     async camCtrlGet(property) {
         const result = await this.helper.camCtrlGet(property);
         // V4L2 pan_absolute/tilt_absolute return arc-seconds, but the rest of
-        // the codebase expects degrees (Windows DirectShow convention). This is
-        // the last-commanded value, not a live reading — see the class comment.
+        // the codebase expects degrees (Windows DirectShow convention). Whether
+        // this is a commanded echo or a live position depends on the kernel — see
+        // the class comment.
         //
         // Degrees as a float, NOT rounded. UVC specifies CT_PANTILT_ABSOLUTE in
         // arc-seconds, but this device's GET_RES is 3600 asec = 1 degree
         // (PROTOCOL.md's CT_PANTILT_ABSOLUTE table, tiny2_specification.md
         // section 2.1) and the firmware streams whole-degree steps — the device
         // never emits a fraction, so rounding here would not recover any
-        // precision the hardware actually has. What NOT rounding preserves is
-        // precision on Linux SPECIFICALLY: uvcvideo caches this control and
-        // returns the value our own gimbalSet last wrote (round(deg *
-        // ARCSEC_PER_DEG)), so a fractional COMMANDED pose (e.g. from
-        // aimAtPixel's composed target) survives this round trip instead of being
-        // flattened to an integer here. It costs nothing either way, and avoids
-        // re-introducing a lossy step if a future device or firmware reports
-        // finer than a degree. The RANGE above still rounds: min/max are
-        // advertised bounds, not a live pose, and no arithmetic accumulates on
-        // them.
+        // precision the hardware actually has.
+        //
+        // On a stock kernel this additionally preserves a fractional COMMANDED
+        // pose: the read is an echo of what gimbalSet last wrote (round(deg *
+        // ARCSEC_PER_DEG)), so e.g. aimAtPixel's composed target survives the round
+        // trip instead of being flattened here. On a kernel that reports live
+        // position that benefit is gone — the device answers in whole degrees — but
+        // not rounding is still the right default: it costs nothing, and it avoids
+        // re-introducing a lossy step if a future device or firmware reports finer
+        // than a degree. Callers must not read sub-degree agreement between a
+        // commanded pose and a subsequent read as meaningful; the hardware readout
+        // is ±1° and, live, lands up to a full step short (measured 2026-08-21:
+        // commanding -108000 asec settled at -104400).
+        //
+        // The RANGE above still rounds: min/max are advertised bounds, not a live
+        // pose, and no arithmetic accumulates on them.
         if (property === 0 || property === 1) {
             result.value = result.value / ARCSEC_PER_DEG;
         }
@@ -122,11 +163,141 @@ export class LinuxTransport {
      * V4L2 tilt_absolute + = tilt up (opposite of our +pitch = down convention).
      */
     async gimbalSet(yawDeg, pitchDeg, _rollDeg) {
-        // V4L2 pan/tilt drives in parallel — both are independent controls.
-        await Promise.all([
-            this.camCtrlSet(0, Math.round(yawDeg * ARCSEC_PER_DEG), 2),
-            this.camCtrlSet(1, Math.round(-pitchDeg * ARCSEC_PER_DEG), 2),
-        ]);
+        await this.panTiltAbsolute(Math.round(yawDeg * ARCSEC_PER_DEG), Math.round(-pitchDeg * ARCSEC_PER_DEG));
+    }
+    /**
+     * Commit an absolute pan+tilt pose (V4L2 arc-seconds) in a single ioctl.
+     *
+     * The two axes are ONE UVC control (CT_PANTILT_ABSOLUTE, 8 bytes) that
+     * uvcvideo exposes as two V4L2 controls, so a write naming a single axis
+     * read-modify-writes the other from a source chosen by the device's GET_INFO
+     * bits. When that source is a live GET_CUR, it is sampled while the first
+     * axis is still travelling and commits that axis back to where it started —
+     * the move is silently half-cancelled. This code used to issue two parallel
+     * `camCtrlSet` calls and hit exactly that: measured on this camera whenever
+     * uvcvideo probed it asleep and pan/tilt kept UVC_CTRL_FLAG_AUTO_UPDATE.
+     * Full writeup in UVCVIDEO-LINUX-POSITION-2026-07-21.md sections 4.1 and 9.
+     *
+     * Sending both axes together makes the hazard unreachable rather than
+     * unlikely, and needs nothing from the pending kernel patch — it is a fix on
+     * stock kernels.
+     *
+     * The fallback keeps older helper binaries working: `pantilt_set` is newer
+     * than the rest of the stdio surface, and a user whose npm package updated
+     * without the native helper being rebuilt would otherwise lose gimbal
+     * movement entirely. Degraded, not broken — the old path still moves the
+     * gimbal, it just carries the cancellation risk it always did.
+     */
+    async panTiltAbsolute(panAsec, tiltAsec) {
+        await this.commitPanTilt(panAsec, tiltAsec);
+        if (!(await this.livePoseReads()))
+            return;
+        /*
+         * Closed loop, Linux only, behind OBSBOT_LIVE_POSE.
+         *
+         * This camera intermittently moves ONE axis to a previously commanded pose
+         * instead of the one just sent. Observed eight times on 2026-08-21, never
+         * with a host-side cause: the kernel-traced SET_CUR payload was correct on
+         * every occurrence, the helper's pan/tilt repair path never fired, and
+         * uvcvideo's restore-on-resume never ran (it is reset-resume only). The
+         * trigger was not found — 5/5 in one soak, then 0/54 across every variant
+         * isolated from it (zero-delta, post-wake, interrupted slew, USB autosuspend
+         * on/off). It lands on a previously commanded value, and re-sending the
+         * target corrects it (15/15 when provoked).
+         *
+         * On a stock kernel this is invisible: the read echoes the command while the
+         * gimbal sits elsewhere, so there is nothing to act on and this is gated
+         * off. With live reads it is detectable, so: settle, compare, re-send ONCE.
+         * Once, not a loop — a firmware that keeps fighting should lose loudly, via
+         * the caller's own settle (readSteadyPose) reporting where it really is.
+         * The retry is also not pre-emptive (no blind 1° nudge on every move): the
+         * fault fires a few times an hour at most, and an honest miss is better
+         * than a permanent tax on every move.
+         */
+        const landed = await this.settlePanTilt();
+        if (landed && this.onTarget(landed, panAsec, tiltAsec))
+            return;
+        this.moveRetryCount++;
+        await this.commitPanTilt(panAsec, tiltAsec);
+        await this.settlePanTilt();
+    }
+    /** Number of closed-loop re-sends this transport has issued. Diagnostics/tests. */
+    get moveRetries() {
+        return this.moveRetryCount;
+    }
+    moveRetryCount = 0;
+    /**
+     * Whether this kernel's uvcvideo serves pan/tilt reads LIVE from the device
+     * rather than from its own cache — the condition under which the pose-settle
+     * and move-retry paths are correct and useful.
+     *
+     * OBSBOT_LIVE_POSE forces the answer either way. Unset, we PROBE: time a batch
+     * of GET_CUR reads in the helper and compare the mean to LIVE_READ_THRESHOLD_US.
+     * This detects the actual behaviour (are reads live) rather than a flag or a
+     * kernel version, so it fires for Ricardo's AUTO_UPDATE quirk (which advertises
+     * nothing), for the volatile patch, and for any future fix alike — and it is
+     * immune to the stable-backport and distro-versioning traps that make a
+     * uname-based gate wrong on exactly the kernels most users run.
+     *
+     * Cached for the transport's lifetime: the kernel does not change under us, and
+     * the probe reads the device a few dozen times. A probe failure (an older
+     * helper with no read_latency op, or an unreadable control) resolves to the
+     * override, or false — degrading to today's shipped behaviour, never throwing.
+     */
+    livePoseReads() {
+        return (this.livePoseReadsCache ??= this.detectLivePoseReads());
+    }
+    livePoseReadsCache;
+    async detectLivePoseReads() {
+        const override = livePoseOverride();
+        if (override !== undefined)
+            return override;
+        try {
+            const { meanUs } = await this.helper.readLatency(0);
+            return meanUs >= LIVE_READ_THRESHOLD_US;
+        }
+        catch {
+            return false;
+        }
+    }
+    async commitPanTilt(panAsec, tiltAsec) {
+        try {
+            await this.helper.panTiltSet(panAsec, tiltAsec);
+        }
+        catch (err) {
+            if (!/unknown op/i.test(err instanceof Error ? err.message : String(err)))
+                throw err;
+            await Promise.all([this.camCtrlSet(0, panAsec, 2), this.camCtrlSet(1, tiltAsec, 2)]);
+        }
+    }
+    onTarget([pan, tilt], panAsec, tiltAsec) {
+        return Math.abs(pan - panAsec) <= PANTILT_STEP_ASEC && Math.abs(tilt - tiltAsec) <= PANTILT_STEP_ASEC;
+    }
+    /** Raw arc-seconds straight from the helper — no degree conversion, no rounding. */
+    async readPanTilt() {
+        const [p, t] = await Promise.all([this.helper.camCtrlGet(0), this.helper.camCtrlGet(1)]);
+        return [p.value, t.value];
+    }
+    /**
+     * Wait until two consecutive pan/tilt reads agree within one step on both
+     * axes, i.e. the gimbal has stopped. Returns the settled pose, or null if it
+     * was still moving at the deadline. Read failures propagate: a move we cannot
+     * verify should surface, not be silently declared done.
+     */
+    async settlePanTilt() {
+        const nap = (ms) => new Promise((r) => setTimeout(r, ms));
+        const deadline = Date.now() + SETTLE_TIMEOUT_MS;
+        await nap(SETTLE_FIRST_READ_MS);
+        let last = await this.readPanTilt();
+        for (;;) {
+            await nap(SETTLE_BEAT_MS);
+            const next = await this.readPanTilt();
+            if (this.onTarget(next, last[0], last[1]))
+                return next;
+            last = next;
+            if (Date.now() >= deadline)
+                return null;
+        }
     }
     /**
      * Drive the gimbal at a speed for a duration, using vendor-frame velocity
@@ -153,10 +324,9 @@ export class LinuxTransport {
      * Hardware-verified to physically recenter the gimbal (2026-07-21).
      */
     async gimbalRecenter() {
-        await Promise.all([
-            this.camCtrlSet(0, 0, 2),
-            this.camCtrlSet(1, 0, 2),
-        ]);
+        // Same single-ioctl path as gimbalSet — recentring is two axes moving at
+        // once, which is precisely the shape the read-modify-write can cancel.
+        await this.panTiltAbsolute(0, 0);
     }
     async readSerial() {
         return readSerialVia(this);

package/dist/transport/linux.js.map

@@ -1 +1 @@
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package/dist/transport/macos.d.ts

@@ -33,6 +33,14 @@ export declare class MacosTransport implements ObsbotTransport {
         value: number;
         flags: number;
     }>;
+    /**
+     * macOS reads pan/tilt live from the device already, so it is exposed to the
+     * pose-composition hazard — but its shipped behaviour is hardware-verified and
+     * this gate is not the change to flip that in. Honour OBSBOT_LIVE_POSE only;
+     * default off until it has been exercised on Mac hardware. No probe here: the
+     * read-latency signal is a Linux/uvcvideo caching artefact.
+     */
+    livePoseReads(): Promise<boolean>;
     procAmpSet(property: number, value: number, flags: number): Promise<void>;
     procAmpRange(property: number): Promise<{
         min: number;

package/dist/transport/macos.js

@@ -1,3 +1,4 @@
+import { livePoseOverride } from "./transport.js";
 import { encodeRecenter, encodePtzMoveAngle, encodePtzMoveSpeed } from "../codec/commands.js";
 import { readSerialVia } from "./read-serial.js";
 // Same XU selector constants as WindowsTransport — they're defined by the
@@ -97,6 +98,16 @@ export class MacosTransport {
         }
         return result;
     }
+    /**
+     * macOS reads pan/tilt live from the device already, so it is exposed to the
+     * pose-composition hazard — but its shipped behaviour is hardware-verified and
+     * this gate is not the change to flip that in. Honour OBSBOT_LIVE_POSE only;
+     * default off until it has been exercised on Mac hardware. No probe here: the
+     * read-latency signal is a Linux/uvcvideo caching artefact.
+     */
+    async livePoseReads() {
+        return livePoseOverride() === true;
+    }
     async procAmpSet(property, value, flags) {
         await this.helper.procAmpSet(property, value, flags);
     }

package/dist/transport/macos.js.map

@@ -1 +1 @@
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+{"version":3,"file":"macos.js","sourceRoot":"","sources":["../../src/transport/macos.ts"],"names":[],"mappings":"AACA,OAAO,EAA2C,gBAAgB,EAAE,MAAM,gBAAgB,CAAC;AAC3F,OAAO,EAAE,cAAc,EAAE,kBAAkB,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAC9F,OAAO,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAEjD,0EAA0E;AAC1E,+BAA+B;AAC/B,MAAM,kBAAkB,GAAG,IAAI,CAAC;AAChC,+EAA+E;AAC/E,iFAAiF;AACjF,wEAAwE;AACxE,MAAM,iBAAiB,GAAG,IAAI,CAAC;AAC/B,MAAM,iBAAiB,GAAG,EAAE,CAAC;AAC7B,MAAM,eAAe,GAAG,IAAI,CAAC;AAC7B,MAAM,gBAAgB,GAAG,EAAE,CAAC;AAC5B,2EAA2E;AAC3E,2EAA2E;AAC3E,6EAA6E;AAC7E,2EAA2E;AAC3E,2DAA2D;AAC3D,MAAM,cAAc,GAAG,IAAI,CAAC;AAC5B,MAAM,WAAW,GAAG,CAAC,CAAC;AACtB,MAAM,YAAY,GAAG,CAAC,CAAC;AAEvB,SAAS,YAAY,CAAC,QAAgB;IACpC,OAAO,QAAQ,KAAK,WAAW,IAAI,QAAQ,KAAK,YAAY,CAAC;AAC/D,CAAC;AAED,MAAM,OAAO,cAAc;IAGL;IAFZ,GAAG,GAAG,CAAC,CAAC;IAEhB,YAAoB,MAAqB;QAArB,WAAM,GAAN,MAAM,CAAe;IAAG,CAAC;IAE7C,KAAK,CAAC,UAAU,CAAC,KAAa;QAC5B,MAAM,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,kBAAkB,EAAE,KAAK,CAAC,CAAC;IACrD,CAAC;IAED,KAAK,CAAC,UAAU,CAAC,KAAa,EAAE,MAAM,GAAG,iBAAiB;QACxD,MAAM,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,kBAAkB,EAAE,KAAK,CAAC,CAAC;QACnD,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,iBAAiB,EAAE,MAAM,CAAC,CAAC;IACtD,CAAC;IAED,KAAK,CAAC,UAAU,CAAC,MAAM,GAAG,gBAAgB;QACxC,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,eAAe,EAAE,MAAM,CAAC,CAAC;IACpD,CAAC;IAED,KAAK,CAAC,KAAK,CAAC,QAAgB,EAAE,IAAY;QACxC,MAAM,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAC;IAC1C,CAAC;IAED,KAAK,CAAC,QAAQ,CAAC,QAAgB,EAAE,MAAc;QAC7C,OAAO,IAAI,CAAC,MAAM,CAAC,KAAK,CAAC,QAAQ,EAAE,MAAM,CAAC,CAAC;IAC7C,CAAC;IAED,KAAK,CAAC,SAAS;QACb,OAAO,IAAI,CAAC,MAAM,CAAC,SAAS,EAAE,CAAC;IACjC,CAAC;IAED,KAAK,CAAC,OAAO,CAAC,KAAa;QACzB,MAAM,IAAI,CAAC,MAAM,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;IACnC,CAAC;IAED,KAAK,CAAC,QAAQ,CAAC,IAAkB;QAC/B,OAAO,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,CAAC;IACpC,CAAC;IAED,KAAK,CAAC,UAAU,CAAC,QAAgB,EAAE,KAAa,EAAE,KAAa;QAC7D,2EAA2E;QAC3E,yEAAyE;QACzE,kCAAkC;QAClC,IAAI,YAAY,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC3B,MAAM,IAAI,KAAK,CACb,2FAA2F,CAC5F,CAAC;QACJ,CAAC;QACD,MAAM,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,QAAQ,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;IACvD,CAAC;IAED,KAAK,CAAC,YAAY,CAAC,QAAgB;QACjC,MAAM,MAAM,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC;QACxD,IAAI,YAAY,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC3B,MAAM,CAAC,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,GAAG,GAAG,cAAc,CAAC,CAAC;YACrD,MAAM,CAAC,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,GAAG,GAAG,cAAc,CAAC,CAAC;QACvD,CAAC;QACD,OAAO,MAAM,CAAC;IAChB,CAAC;IAED;;;;;;;;OAQG;IACH,KAAK,CAAC,UAAU,CAAC,QAAgB;QAC/B,MAAM,MAAM,GAAG,MAAM,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,QAAQ,CAAC,CAAC;QACtD,wEAAwE;QACxE,iEAAiE;QACjE,mEAAmE;QACnE,wEAAwE;QACxE,iEAAiE;QACjE,qEAAqE;QACrE,qEAAqE;QACrE,sEAAsE;QACtE,qEAAqE;QACrE,mEAAmE;QACnE,wEAAwE;QACxE,oDAAoD;QACpD,IAAI,YAAY,CAAC,QAAQ,CAAC,EAAE,CAAC;YAC3B,MAAM,CAAC,KAAK,GAAG,MAAM,CAAC,KAAK,GAAG,cAAc,CAAC;QAC/C,CAAC;QACD,OAAO,MAAM,CAAC;IAChB,CAAC;IAED;;;;;;OAMG;IACH,KAAK,CAAC,aAAa;QACjB,OAAO,gBAAgB,EAAE,KAAK,IAAI,CAAC;IACrC,CAAC;IAED,KAAK,CAAC,UAAU,CAAC,QAAgB,EAAE,KAAa,EAAE,KAAa;QAC7D,MAAM,IAAI,CAAC,MAAM,CAAC,UAAU,CAAC,QAAQ,EAAE,KAAK,EAAE,KAAK,CAAC,CAAC;IACvD,CAAC;IAED,KAAK,CAAC,YAAY,CAAC,QAAgB;QACjC,OAAO,IAAI,CAAC,MAAM,CAAC,YAAY,CAAC,QAAQ,CAAC,CAAC;IAC5C,CAAC;IAED,KAAK,CAAC,SAAS,CAAC,MAAc,EAAE,QAAgB,EAAE,OAAO,GAAG,CAAC;QAC3D,MAAM,IAAI,CAAC,UAAU,CAAC,kBAAkB,CAAC,MAAM,EAAE,QAAQ,EAAE,OAAO,CAAC,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;IAClG,CAAC;IAED,KAAK,CAAC,WAAW,CAAC,GAAW,EAAE,KAAa,EAAE,IAAY,EAAE,UAAkB;QAC5E,MAAM,IAAI,CAAC,UAAU,CAAC,kBAAkB,CAAC,CAAC,GAAG,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;QACxF,IAAI,UAAU,GAAG,CAAC,EAAE,CAAC;YACnB,MAAM,IAAI,OAAO,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,UAAU,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC;YACpD,MAAM,IAAI,CAAC,UAAU,CAAC,kBAAkB,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;QAChF,CAAC;IACH,CAAC;IAED,KAAK,CAAC,cAAc;QAClB,MAAM,IAAI,CAAC,UAAU,CAAC,cAAc,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;IACrE,CAAC;IAED,KAAK,CAAC,UAAU;QACd,OAAO,aAAa,CAAC,IAAI,CAAC,CAAC;IAC7B,CAAC;IAED,OAAO;QACL,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,GAAG,IAAI,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,GAAG,CAAC,CAAC;QACjD,OAAO,IAAI,CAAC,GAAG,CAAC;IAClB,CAAC;IAED,KAAK,CAAC,KAAK;QACT,MAAM,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;IAC5B,CAAC;CACF"}

package/dist/transport/transport.d.ts

@@ -28,6 +28,21 @@ export interface SnapshotOpts {
 export declare class CameraBusyError extends Error {
     constructor(message?: string);
 }
+/**
+ * OBSBOT_LIVE_POSE override for the live-pose behaviours (pose settling before
+ * composition in mcp/tools.ts, and the Linux closed-loop move retry in
+ * transport/linux.ts). TRI-STATE: `1/true/yes/on` forces them on, `0/false/no/off`
+ * forces them off, unset (or empty) means "decide automatically". Returns the
+ * forced boolean, or undefined to defer to a transport's own detection.
+ *
+ * Automatic detection is per-transport: see ObsbotTransport.livePoseReads. On
+ * Linux it is a read-latency probe (transport/linux.ts) that measures whether the
+ * driver serves pan/tilt from cache or re-queries the device — mechanism-agnostic
+ * and immune to the kernel-version/backport traps a uname gate walks into.
+ */
+export declare const livePoseOverride: () => boolean | undefined;
+/** Back-compat: the plain on/off reading of the override (unset => off). */
+export declare const livePoseEnabled: () => boolean;
 export interface ObsbotTransport {
     sendVendor(frame: Buffer): Promise<void>;
     /**
@@ -64,6 +79,13 @@ export interface ObsbotTransport {
         value: number;
         flags: number;
     }>;
+    /**
+     * Whether pan/tilt reads report LIVE device position (vs a cached setpoint),
+     * which decides whether the pose-settle and closed-loop move-retry behaviours
+     * run. OBSBOT_LIVE_POSE overrides; otherwise the transport decides (Linux
+     * probes read latency, macOS/Windows default off). Cached after first call.
+     */
+    livePoseReads(): Promise<boolean>;
     /** IAMVideoProcAmp::Set(property, value, flags) — used for white balance. */
     procAmpSet(property: number, value: number, flags: number): Promise<void>;
     /** IAMVideoProcAmp::GetRange(property) → device-unit min/max. */

package/dist/transport/transport.js

@@ -5,4 +5,24 @@ export class CameraBusyError extends Error {
         this.name = "CameraBusyError";
     }
 }
+/**
+ * OBSBOT_LIVE_POSE override for the live-pose behaviours (pose settling before
+ * composition in mcp/tools.ts, and the Linux closed-loop move retry in
+ * transport/linux.ts). TRI-STATE: `1/true/yes/on` forces them on, `0/false/no/off`
+ * forces them off, unset (or empty) means "decide automatically". Returns the
+ * forced boolean, or undefined to defer to a transport's own detection.
+ *
+ * Automatic detection is per-transport: see ObsbotTransport.livePoseReads. On
+ * Linux it is a read-latency probe (transport/linux.ts) that measures whether the
+ * driver serves pan/tilt from cache or re-queries the device — mechanism-agnostic
+ * and immune to the kernel-version/backport traps a uname gate walks into.
+ */
+export const livePoseOverride = () => {
+    const v = process.env.OBSBOT_LIVE_POSE;
+    if (v === undefined || v === "")
+        return undefined;
+    return /^(1|true|yes|on)$/i.test(v);
+};
+/** Back-compat: the plain on/off reading of the override (unset => off). */
+export const livePoseEnabled = () => livePoseOverride() === true;
 //# sourceMappingURL=transport.js.map

package/dist/transport/transport.js.map

@@ -1 +1 @@
-{"version":3,"file":"transport.js","sourceRoot":"","sources":["../../src/transport/transport.ts"],"names":[],"mappings":"AA4BA,8EAA8E;AAC9E,MAAM,OAAO,eAAgB,SAAQ,KAAK;IACxC,YAAY,OAAO,GAAG,sCAAsC;QAC1D,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,IAAI,CAAC,IAAI,GAAG,iBAAiB,CAAC;IAChC,CAAC;CACF"}
+{"version":3,"file":"transport.js","sourceRoot":"","sources":["../../src/transport/transport.ts"],"names":[],"mappings":"AA4BA,8EAA8E;AAC9E,MAAM,OAAO,eAAgB,SAAQ,KAAK;IACxC,YAAY,OAAO,GAAG,sCAAsC;QAC1D,KAAK,CAAC,OAAO,CAAC,CAAC;QACf,IAAI,CAAC,IAAI,GAAG,iBAAiB,CAAC;IAChC,CAAC;CACF;AAED;;;;;;;;;;;GAWG;AACH,MAAM,CAAC,MAAM,gBAAgB,GAAG,GAAwB,EAAE;IACxD,MAAM,CAAC,GAAG,OAAO,CAAC,GAAG,CAAC,gBAAgB,CAAC;IACvC,IAAI,CAAC,KAAK,SAAS,IAAI,CAAC,KAAK,EAAE;QAAE,OAAO,SAAS,CAAC;IAClD,OAAO,oBAAoB,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;AACtC,CAAC,CAAC;AAEF,4EAA4E;AAC5E,MAAM,CAAC,MAAM,eAAe,GAAG,GAAY,EAAE,CAAC,gBAAgB,EAAE,KAAK,IAAI,CAAC"}

package/dist/transport/windows.d.ts

@@ -24,6 +24,12 @@ export declare class WindowsTransport implements ObsbotTransport {
         value: number;
         flags: number;
     }>;
+    /**
+     * Windows drives the gimbal with vendor frames and does not have the uvcvideo
+     * cached-read hazard; the settle/retry paths are Linux/macOS concerns. Honour
+     * the override for parity, default off.
+     */
+    livePoseReads(): Promise<boolean>;
     procAmpSet(property: number, value: number, flags: number): Promise<void>;
     procAmpRange(property: number): Promise<{
         min: number;

package/dist/transport/windows.js

@@ -1,3 +1,4 @@
+import { livePoseOverride } from "./transport.js";
 import { encodeRecenter, encodePtzMoveAngle, encodePtzMoveSpeed } from "../codec/commands.js";
 import { readSerialVia } from "./read-serial.js";
 const VENDOR_XU_SELECTOR = 0x02;
@@ -60,6 +61,14 @@ export class WindowsTransport {
     async camCtrlGet(property) {
         return this.helper.camCtrlGet(property);
     }
+    /**
+     * Windows drives the gimbal with vendor frames and does not have the uvcvideo
+     * cached-read hazard; the settle/retry paths are Linux/macOS concerns. Honour
+     * the override for parity, default off.
+     */
+    async livePoseReads() {
+        return livePoseOverride() === true;
+    }
     async procAmpSet(property, value, flags) {
         await this.helper.procAmpSet(property, value, flags);
     }