obsbot-mcp 0.7.0 → 0.9.0

package/README.md

@@ -3,7 +3,8 @@
 A cross-platform [Model Context Protocol](https://modelcontextprotocol.io) server that controls an
 **OBSBOT Tiny 2** camera over its standard UVC/USB interface — pan/tilt/roll the gimbal, zoom, AI
 subject tracking, focus/exposure/white-balance/image controls, HDR and field-of-view, plus snapshot,
-preview, and recording — without any vendor SDK.
+preview, and recording — without any vendor SDK. It also controls the **OBSBOT Tail 2** network
+camera over its HTTP/WS API (see [OBSBOT Tail 2](#obsbot-tail-2-network-cameras) below).
 
 ## Install
 
@@ -62,7 +63,9 @@ With the installed binary, use `"command": "obsbot-mcp"` and `"args": ["--debug"
 
 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
+one more. Every Tail 2 camera on the network adds the 32 `obsbot_tail2_*` tools in
+[OBSBOT Tail 2](#obsbot-tail-2-network-cameras) below (all platforms — they are pure TypeScript).
+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.
 
@@ -249,6 +252,82 @@ name, independent of `camera`.
 on Windows, `brew install ffmpeg` on macOS, `apt install ffmpeg` on Linux). `snapshot` does **not**
 need ffmpeg — it grabs the frame through the native helper.
 
+## OBSBOT Tail 2 (network cameras)
+
+The Tail 2 is a different animal: a network PTZ camera (NDI/RTSP/SRT/RTMP output, ethernet + WiFi,
+and a USB-C port that is either MTP for footage offload or a UVC webcam). The tools below use its
+**network control plane** — an HTTP REST API plus a WebSocket status push, documented in
+[`TAIL2-PROTOCOL.md`](./TAIL2-PROTOCOL.md) from on-device reverse engineering. That makes the whole
+module **pure TypeScript with zero platform-specific code**: no native helper, no helper build,
+identical behavior on Windows/Linux/macOS.
+
+In UVC mode the camera also answers the standard UVC controls over USB (pan, tilt, zoom, pan/tilt
+speed, focus, exposure, white balance), and its vendor Extension Unit gives tracking on/off, human
+tracking mode, tracking speed and Auto Zoom. This server has no Tail 2 USB transport yet, so none
+of that is exposed as a tool; presets, portrait rotation and roll trim are network only. See
+[TAIL2-PROTOCOL.md §11](./TAIL2-PROTOCOL.md#11-usb-c-uvc-mode-measured-2026-09-26-windows-directshow-2026-09-27-linux-uvcvideo)
+for what was measured.
+
+Getting started:
+
+1. Put the Tail 2 on your network (it defaults to DHCP on ethernet).
+2. Call `obsbot_tail2_scan` once — it listens ~5 s for the camera's own mDNS announcements (it
+   multicasts its MAC, name and IPs every few seconds, the same channel OBSBOT Center discovers
+   by) and falls back to an HTTP subnet sweep only on multicast-filtered networks. Or set
+   `OBSBOT_TAIL2_HOSTS` (comma-separated addresses) in the server's environment, or just pass any
+   Tail 2 tool a `camera` parameter holding the camera's IP.
+
+The `camera` selector for these tools is the camera's **MAC** (its stable identity), or its
+`device_name`, or its host address — case-insensitive. Omitted with one Tail 2 registered it
+resolves to that one.
+
+| Tool | Parameters | Description |
+|------|------------|-------------|
+| `obsbot_tail2_devices` | — | List registered Tail 2 cameras (mac, name, host(s)). Registration is not liveness. |
+| `obsbot_tail2_scan` | — | Discover Tail 2 cameras: ~5 s mDNS listen (the camera's own announcements), HTTP subnet sweep fallback. Registers what it found. |
+| `obsbot_tail2_status` | `camera`? | One WebSocket status push: the full live block — power, rec, portrait, AI mode + tracking settings, zoom ratio, roll bias, focus modes, NDI/RTSP/SRT/RTMP flags, SD card, presets with poses, and per-subsystem health. No live yaw/pitch — Tail 2 gimbal moves are open-loop. |
+| `obsbot_tail2_info` | `camera`? | Identity + static config in one call: device_info, range (zoom **1.0–12.0**, focus 1–100, WB 2000–10000 K), networkconfig (NDI/stream settings). |
+| `obsbot_tail2_zoom` | `ratio` (`1.0`–`12.0`), `speed` (`1`–`10`, default `5`), `camera`? | Absolute zoom on the camera's own ratio scale. `speed` is required by the firmware. Returns `settled` (readback-verified) — see below. |
+| `obsbot_tail2_recenter` | `camera`? | Gimbal recenter (yaw/pitch/roll 0). Open-loop: returns on ack. Can drop AI tracking to `none`; re-enable with `obsbot_tail2_ai_track`. |
+| `obsbot_tail2_gimbal_position` | `camera`? | Live gimbal pose in degrees (yaw/pitch/roll) + zoom ratio, via save-scratch-preset → read → delete (~2 s). Needs one empty preset slot (probe slots are self-cleaning). |
+| `obsbot_tail2_gimbal_speed` | `yaw`? `pitch`? `roll`? (±150 speed), `durationMs`? (100–5000, default 500), `camera`? | Jog the gimbal (the joystick primitive) with automatic stop. Measured: command 20 ≈ 7.9°/s; positive yaw command DECREASES recorded yaw. Disable AI tracking first. |
+| `obsbot_tail2_gimbal_move` | `yaw`? `pitch`? (±178°), `camera`? | Absolute move via closed loop (jog → pose read → correct, ≤5 rounds, ±1.5° tolerance). Slow by design (~1 s per small move, more for large). Refuses while AI tracking is active. Hardware-verified 2026-09-30: 4° move converged in one iteration. |
+| `obsbot_tail2_gimbal_invert` | `enable`?, `camera`? | Read (bare call) or set (verified) control-direction inversion. |
+| `obsbot_tail2_record` | `enable`?, `camera`? | Read/control the recording switch. Needs storage — check `obsbot_tail2_status`'s sdcard field. |
+| `obsbot_tail2_capture_photo` | `camera`? | Trigger a still photo (to storage). |
+| `obsbot_tail2_focus` | `mode`? (`afc`/`afs`/`mf`), `position`? (0–100), `camera`? | Read or set focus. Position only in `mf` (mode-gated; the tool refuses otherwise). |
+| `obsbot_tail2_exposure` | `mode`?, `face`?, `evbias`?, `iso`?, `shutter`?, `camera`? | Read (mode-appropriate) or set exposure: auto (face-priority AE + EV bias) or manual (ISO 100–6400, shutter `1/N`). Note: the firmware rejects JSON-integer evbias — the client always sends `0.0`-style floats. |
+| `obsbot_tail2_image_adjust` | `control`?, `value`? (0–100), `styleMode`?, `camera`? | Read or set image style (brightness/contrast/hue/saturation/sharpness). Control writes are gated to `styleMode: manual` — the tool applies a given styleMode first and refuses otherwise. |
+| `obsbot_tail2_hdr` | `enabled`?, `camera`? | Read/set HDR. |
+| `obsbot_tail2_wb` | `mode`?, `temperature`? (2000–10000 K), `camera`? | Read/set white balance (6 modes + Kelvin in manual). |
+| `obsbot_tail2_stream` | `output`? (`ndi`/`rtsp`/`srt`/`off`), `camera`? | Read/set the ONE active network output. The programmatic way to arm SRT for `obsbot_tail2_snapshot` — no Center needed. |
+| `obsbot_tail2_only_me` | `enabled`?, `camera`? | Read/set OnlyMe human-tracking (track one person, not everyone). |
+| `obsbot_tail2_audio` | `volume`?, `mute`?, `camera`? | Read/set audio input. |
+| `obsbot_tail2_track_target` | `x`, `y` (0.01–0.99), `camera`? | **Tap-to-track**: engage AI tracking on the subject at a normalized frame coordinate (snapshot pixel ÷ frame size). Undocumented endpoint, hardware-measured. |
+| `obsbot_tail2_focus_point` | `x`?, `y`? (0.01–0.99), `camera`? | **Tap-to-focus**: move the focus window to a normalized frame coordinate and start a point focus (afc/afs only). Bare call reads the window. |
+| `obsbot_tail2_portrait` | `enable`, `camera`? | Motorized 90° barrel rotation for portrait framing — no Tiny 2 equivalent. Verified on orientation feedback; retry if `settled:false` (writes can be silently dropped *while the motor is in motion* — measured). |
+| `obsbot_tail2_roll_bias` | `angle` (±90), `camera`? | Roll trim in degrees (horizon correction / deliberate tilt). |
+| `obsbot_tail2_ai_track` | `enabled`, `mode` (default `"humanTrackingSingleMode"`), `camera`? | Enable/disable AI tracking. Modes are the camera's own enum: human (single/group), animal (normal/close-up), object tracking (`objectTracking`/`objectTrackingNormal`/`objectTrackingCloseUp`). While active, tracking owns the gimbal. |
+| `obsbot_tail2_track_speed` | `speed`: `"superLazy" \| "lazy" \| "slow" \| "fast" \| "crazy" \| "customized"`, `camera`? | Tracking follow speed — the Tail 2's own six-speed enum (NOT the Tiny 2's standard/sport pair). |
+| `obsbot_tail2_preset_list` | `camera`? | The three preset slots: occupied/empty, decoded name, pose in degrees + zoom ratio. |
+| `obsbot_tail2_preset_save` | `slot` (`1`–`3`), `name`? (default `P1`/`P2`/`P3`), `camera`? | Save the CURRENT live pose into a slot — aim first, then save. **Overwrites** an occupied slot (unlike the Tiny 2's create-once), and there is no pose-by-value write in this API at all. |
+| `obsbot_tail2_preset_recall` | `slot`, `camera`? | Drive gimbal + zoom to a saved pose. Refuses an empty slot. Arrival verified via the zoom readback (gimbal axes are open-loop — the Tail 2 reports no live pose). Disable AI tracking first or it fights the move. |
+| `obsbot_tail2_preset_delete` | `slot`, `camera`? | Free a slot. |
+| `obsbot_tail2_preset_rename` | `slot`, `name`, `camera`? | Rename a slot (base64 handled transparently). |
+| `obsbot_tail2_snapshot` | `resolution` (`256`–`1920`, default `640`), `quality` (`1`–`100`, default `80`), `camera`? | Grab one still frame and return it as an image. Pulls from the camera's **SRT output** (ffmpeg SRT caller, port 5000) — requires SRT listener mode enabled in OBSBOT Center first (it disables NDI while active and is cleared by a camera reboot; Center only allows changing streaming settings while the output is off, so a failure usually means SRT is off — re-enable and retry). Hardware-verified 2026-09-26. |
+
+**Every write is verified by readback** (`settled` in the result): the Tail 2 acknowledges commands
+it may drop while an actuator is mid-motion — `{"code":200}` means *acknowledged*, not *applied*
+(measured 2026-09-26; see TAIL2-PROTOCOL.md §8). `settled:false` means the ladder ran out before
+the readback agreed; the command was still sent — retry it.
+
+Known Tail 2 gaps (details in TAIL2-PROTOCOL.md §9): image-control writes via REST
+are unprobed, and snapshot depends on the camera's SRT output being enabled from
+OBSBOT Center (exclusive with NDI, cleared by reboots — the tool explains this when
+SRT is off; on this firmware the RTSP output never serves despite its enable flag).
+The camera's control API is also **unauthenticated** — anyone on your LAN can drive
+it, including poweroff.
+
 ## Supported platforms
 
 - **Windows x64** — supported today. The native helper is built from source in `native/windows/`
@@ -473,17 +552,34 @@ node scripts/e2e.mjs
 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.
+**Rebuild, then start one server from the new build.** The MCP server runs from `dist/`, so a
+source change is invisible until `npm run build`. This project coordinates concurrent clients by
+electing a single owner process (see `IPC-DESIGN.md`), and **the owner executes every tool call**,
+whichever session made it. The owner is the newest build alive: when a server starts from a newer
+build than the owner's, the owner finishes the call in flight, releases the camera, and hands the
+endpoint over. Reloading the server in one MCP client is therefore enough. Other sessions stay open
+and their calls are served by the new build.
+
+Three things to know:
+
+- **The tool list of other sessions does not refresh.** A session that started on an older build
+  keeps the list it had; its calls run the new code. Reload that session's server to get new tools.
+- **A server that predates the handover cannot hand over** (0.7.0 and earlier). A newer server
+  will not run calls on it, and says so: `an older instance owns the camera endpoint and cannot
+  hand it over`. Stop the old process once; after that, rebuilds take over on their own.
+- **Use `npm run build` and `npm run build:helper`.** They stamp the build with its identity
+  (`dist/build-info.json`). A bare `tsc`, or a helper copied into place by hand, is not stamped and
+  does not count as a newer build.
+
+To see which build will run your next call, read the last `ipc role=` line in the server's log.
+`role=owner` means this process; `role=client owner-pid=… owner-build=…` names the one that will.
+Claude Code keeps the log under `~/Library/Caches/claude-cli-nodejs/<project>/mcp-logs-obsbot/` on
+macOS.
 
-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:
+```bash
+# Linux / macOS — every server process, with when it started
+ps -o pid,lstart,command -p $(pgrep -f "obsbot.*dist/index.js" | paste -sd, -)
+```
 
 ```powershell
 # Windows
@@ -492,14 +588,9 @@ Get-CimInstance Win32_Process -Filter "Name='node.exe'" |
   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.
+Set `OBSBOT_IPC_NAME` to give a server a rendezvous endpoint of its own (1–64 characters from
+`A-Z a-z 0-9 . _ -`). Test harnesses do this so they leave a live session alone. Two owners on one
+machine can contend for the camera, so it is not for everyday use.
 
 **Frame rate selects the field of view, so the preview shows less than snapshots.** At 1920×1080 this
 camera has two different windows onto the sensor and the *frame rate* picks between them — not the

package/dist/build-info.json

@@ -0,0 +1,5 @@
+{
+  "version": "0.9.0",
+  "builtAt": 1790798771447,
+  "digest": "8b65309d6969d6a37bb4b9c236d7f1e7b32d7970c5872881e31b48e83c238d51"
+}

package/dist/device/manager.d.ts

@@ -100,6 +100,14 @@ export declare class DeviceManager {
      */
     /** True while an arrival re-bind ladder is running (see handleCameraArrived). */
     private rebinding;
+    /**
+     * Bumped by shutdown(). shutdown() is no longer only a way out: an owner
+     * that steps down for a newer build calls it and stays alive. Work that was
+     * under way before it — a re-bind ladder waiting out its backoff — must not
+     * open the camera after it, or this instance takes back what it has just
+     * given up.
+     */
+    private epoch;
     /**
      * Delays before each arrival re-bind attempt, in order — so four attempts
      * spanning ~4.5s, the first immediate.

package/dist/device/manager.js

@@ -4,8 +4,20 @@ import { MacosTransport } from "../transport/macos.js";
 // USB vendor ID 0x3564 is registered to **Remo Inc.** — the manufacturer. OBSBOT
 // is a Remo product brand, and Remo ships non-OBSBOT (and non-camera) devices
 // under the same VID, so candidacy must gate on VID **and** a known model PID —
-// never VID alone. Add a PID here (and mirror it in native/macos/helper.m's
-// OBSBOT_MODEL_PIDS) when a new OBSBOT camera model is verified on hardware.
+// never VID alone.
+//
+// This table is the list of models that speak the Tiny 2's framed V3 vendor
+// protocol, because being a candidate here means being OPENED AND WRITTEN TO:
+// bind() and listCameras() identify a camera by sending it UG_GET_SN as a V3
+// frame on vendor selector 2. Add a PID only when that query has been verified
+// on the model's hardware.
+//
+// The Tail 2 (0xfefc — one composite PID for both its MTP and UVC USB modes) is
+// deliberately absent. It carries the Tiny 2's Extension Unit GUID but uses
+// flat selectors, not V3 frames (TAIL2-PROTOCOL.md §11), so the serial query
+// would be an untested vendor write. native/macos/helper.m's OBSBOT_MODEL_PIDS
+// does list it: that table only decides what the helper can enumerate and
+// open, which sends the camera nothing. The two tables no longer mirror.
 const REMO_VID = 0x3564;
 const OBSBOT_MODEL_PIDS = new Map([
     [REMO_VID, new Set([0xfef8 /* Tiny 2 */])],
@@ -17,6 +29,10 @@ const OBSBOT_MODEL_PIDS = new Map([
 // DirectShow filter, which matched this regex and poisoned multi-candidate
 // binding — are correctly excluded.
 const OBSBOT_NAME_RE = /obsbot/i;
+// The name fallback's stand-in for the Tail 2's absence from the PID table.
+// Matches both spellings the camera's own USB strings use ("OBSBOT Tail 2
+// Camera", "OBSBOT Tail2 Audio").
+const TAIL2_NAME_RE = /tail\s*2/i;
 /** Message text from an unknown thrown value, for diagnostics. */
 const errText = (e) => (e instanceof Error ? e.message : String(e));
 /**
@@ -25,10 +41,13 @@ const errText = (e) => (e instanceof Error ? e.message : String(e));
  * VID + known-model PID table (a software "OBSBOT Virtual Camera" has no vid/pid
  * and is rejected). On Linux the helper does not report vid/pid yet, so fall
  * back to the name match there until it does.
+ *
+ * A Tail 2 is never a candidate on any platform — see OBSBOT_MODEL_PIDS.
  */
 function isObsbotCamera(d) {
-    if (process.platform === "linux")
-        return OBSBOT_NAME_RE.test(d.name);
+    if (process.platform === "linux") {
+        return OBSBOT_NAME_RE.test(d.name) && !TAIL2_NAME_RE.test(d.name);
+    }
     if (d.vid === undefined || d.pid === undefined)
         return false;
     return OBSBOT_MODEL_PIDS.get(d.vid)?.has(d.pid) ?? false;
@@ -124,6 +143,14 @@ export class DeviceManager {
      */
     /** True while an arrival re-bind ladder is running (see handleCameraArrived). */
     rebinding = false;
+    /**
+     * Bumped by shutdown(). shutdown() is no longer only a way out: an owner
+     * that steps down for a newer build calls it and stays alive. Work that was
+     * under way before it — a re-bind ladder waiting out its backoff — must not
+     * open the camera after it, or this instance takes back what it has just
+     * given up.
+     */
+    epoch = 0;
     /**
      * Delays before each arrival re-bind attempt, in order — so four attempts
      * spanning ~4.5s, the first immediate.
@@ -607,12 +634,17 @@ export class DeviceManager {
         if (this.rebinding)
             return;
         this.rebinding = true;
+        const epoch = this.epoch;
         const total = this.arrivalBackoffMs.length;
         try {
             for (let i = 0; i < total; i++) {
                 const delay = this.arrivalBackoffMs[i];
                 if (delay > 0)
                     await new Promise((r) => setTimeout(r, delay));
+                // The manager was shut down while we waited: the camera is no longer
+                // ours to restore. See `epoch`.
+                if (this.epoch !== epoch)
+                    return;
                 // A tool call may have bound it while we waited — it got there first.
                 if (this.registry.size > 0)
                     return;
@@ -651,6 +683,7 @@ export class DeviceManager {
      * itself throw is worse than one that leaves a process for the OS to reap.
      */
     async shutdown() {
+        this.epoch++;
         const close = async (h) => {
             if (!h)
                 return;

package/dist/device/manager.js.map

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

@@ -186,26 +186,37 @@ export interface Offset {
  */
 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.
+ * Limits of the Tiny 2's gimbal, in degrees: the pose the running platform can
+ * COMMAND. 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.
+ * ±150 is the mechanical yaw range on every platform. Measured 2026-07-25:
+ * commanded 145 reads back 145, and 150 reads back 149. Position feedback comes
+ * from the camera's physical encoder, which 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.
+ * The COMMANDABLE range does vary by OS, which is why the yaw limit is resolved
+ * per platform. `CT_PANTILT_ABSOLUTE` *advertises* ±468000 arcsec = ±130° — a
+ * descriptor value that under-reports the mechanism it describes — and on Linux
+ * uvcvideo silently clamps every write to the advertised range. Measured
+ * 2026-09-01: writes of 540000 and 504000 arcsec both return success and land
+ * at exactly 468000. A limit wider than the platform can command turns every
+ * aim past 130° into a guaranteed miss that also burns the closed-loop mover's
+ * one retry (`transport/linux.ts`), so on Linux the limit is the kernel's, not
+ * the mechanism's. macOS commands the control raw over USB and Windows goes
+ * through the vendor protocol; neither clamps, so both keep the mechanical
+ * bound. The mechanism still REACHES ±148–149° on every platform — speed moves,
+ * hand moves and AI tracking all park it past 130° and Linux live reads report
+ * it truthfully (measured -532800/+536400 arcsec at the stops) — so this bounds
+ * what may be commanded, never what a read may return. See the spec's §8.
+ *
+ * Pitch needs no per-platform split: the advertised ±324000 arcsec is exactly
+ * the mechanical ±90°.
  */
-export declare const GIMBAL_YAW_LIMIT_DEG = 150;
+export declare function gimbalYawLimitDeg(platform?: string): number;
+export declare const GIMBAL_YAW_LIMIT_DEG: number;
 export declare const GIMBAL_PITCH_LIMIT_DEG = 90;
 export interface Aim {
     target: Pose;

package/dist/geometry/aim.js

@@ -208,26 +208,39 @@ export function pixelToOffset(x, y, frame, optics) {
     };
 }
 /**
- * Mechanical limits of the Tiny 2's gimbal, in degrees. Hardware-verified.
+ * Limits of the Tiny 2's gimbal, in degrees: the pose the running platform can
+ * COMMAND. 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.
+ * ±150 is the mechanical yaw range on every platform. Measured 2026-07-25:
+ * commanded 145 reads back 145, and 150 reads back 149. Position feedback comes
+ * from the camera's physical encoder, which 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.
+ * The COMMANDABLE range does vary by OS, which is why the yaw limit is resolved
+ * per platform. `CT_PANTILT_ABSOLUTE` *advertises* ±468000 arcsec = ±130° — a
+ * descriptor value that under-reports the mechanism it describes — and on Linux
+ * uvcvideo silently clamps every write to the advertised range. Measured
+ * 2026-09-01: writes of 540000 and 504000 arcsec both return success and land
+ * at exactly 468000. A limit wider than the platform can command turns every
+ * aim past 130° into a guaranteed miss that also burns the closed-loop mover's
+ * one retry (`transport/linux.ts`), so on Linux the limit is the kernel's, not
+ * the mechanism's. macOS commands the control raw over USB and Windows goes
+ * through the vendor protocol; neither clamps, so both keep the mechanical
+ * bound. The mechanism still REACHES ±148–149° on every platform — speed moves,
+ * hand moves and AI tracking all park it past 130° and Linux live reads report
+ * it truthfully (measured -532800/+536400 arcsec at the stops) — so this bounds
+ * what may be commanded, never what a read may return. See the spec's §8.
+ *
+ * Pitch needs no per-platform split: the advertised ±324000 arcsec is exactly
+ * the mechanical ±90°.
  */
-export const GIMBAL_YAW_LIMIT_DEG = 150;
+export function gimbalYawLimitDeg(platform = process.platform) {
+    return platform === "linux" ? 130 : 150;
+}
+export const GIMBAL_YAW_LIMIT_DEG = gimbalYawLimitDeg();
 export const GIMBAL_PITCH_LIMIT_DEG = 90;
 const clampTo = (value, limit) => Math.min(limit, Math.max(-limit, value));
 /**

package/dist/geometry/aim.js.map

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package/dist/ipc/build-id.d.ts

@@ -0,0 +1,25 @@
+export interface BuildId {
+    /** package.json version. For log lines only — it takes no part in ordering. */
+    version: string;
+    /** Milliseconds since the epoch, taken when the stamp was written. */
+    builtAt: number;
+    /** SHA-256 (hex) of the code this build can run, or UNSTAMPED_DIGEST. */
+    digest: string;
+}
+export declare const UNSTAMPED_DIGEST = "unstamped";
+/** A build with no stamp file: older than every stamped build, equal to every other unstamped one. */
+export declare function unstampedBuild(): BuildId;
+/** Is this a well-formed identity? Used on the stamp file and on what a peer sends. */
+export declare function isBuildId(x: unknown): x is BuildId;
+/** dist/ipc/build-id.js → dist/build-info.json */
+export declare function defaultBuildInfoPath(): string;
+/** Read the stamp. A missing or malformed file is an unstamped build, never an error. */
+export declare function loadBuildId(path?: string): BuildId;
+/**
+ * Order two builds. Positive: `a` is newer. Negative: `b` is newer. Zero: the
+ * same build. Both sides of a connection run this on the same two identities,
+ * so it must be a total order that cannot disagree with itself.
+ */
+export declare function compareBuilds(a: BuildId, b: BuildId): number;
+/** `<version>/<builtAt as ISO 8601>/<first 8 of digest>`, or `<version>/unstamped`. */
+export declare function buildLabel(b: BuildId): string;

package/dist/ipc/build-id.js

@@ -0,0 +1,60 @@
+import { readFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
+import { dirname, join } from "node:path";
+import { VERSION } from "../version.js";
+export const UNSTAMPED_DIGEST = "unstamped";
+const DIGEST_RE = /^[0-9a-f]{64}$/;
+/** A build with no stamp file: older than every stamped build, equal to every other unstamped one. */
+export function unstampedBuild() {
+    return { version: VERSION, builtAt: 0, digest: UNSTAMPED_DIGEST };
+}
+/** Is this a well-formed identity? Used on the stamp file and on what a peer sends. */
+export function isBuildId(x) {
+    if (typeof x !== "object" || x === null)
+        return false;
+    const b = x;
+    if (typeof b.version !== "string" || b.version.length === 0)
+        return false;
+    if (typeof b.builtAt !== "number" || !Number.isFinite(b.builtAt) || b.builtAt < 0)
+        return false;
+    if (typeof b.digest !== "string")
+        return false;
+    return b.digest === UNSTAMPED_DIGEST ? b.builtAt === 0 : DIGEST_RE.test(b.digest);
+}
+/** dist/ipc/build-id.js → dist/build-info.json */
+export function defaultBuildInfoPath() {
+    return join(dirname(fileURLToPath(import.meta.url)), "..", "build-info.json");
+}
+/** Read the stamp. A missing or malformed file is an unstamped build, never an error. */
+export function loadBuildId(path = defaultBuildInfoPath()) {
+    try {
+        const raw = JSON.parse(readFileSync(path, "utf8"));
+        if (isBuildId(raw) && raw.digest !== UNSTAMPED_DIGEST) {
+            return { version: raw.version, builtAt: raw.builtAt, digest: raw.digest };
+        }
+    }
+    catch {
+        // missing, unreadable, or not JSON
+    }
+    return unstampedBuild();
+}
+/**
+ * Order two builds. Positive: `a` is newer. Negative: `b` is newer. Zero: the
+ * same build. Both sides of a connection run this on the same two identities,
+ * so it must be a total order that cannot disagree with itself.
+ */
+export function compareBuilds(a, b) {
+    if (a.digest === b.digest)
+        return 0;
+    if (a.builtAt !== b.builtAt)
+        return a.builtAt > b.builtAt ? 1 : -1;
+    return a.digest > b.digest ? 1 : -1;
+}
+/** `<version>/<builtAt as ISO 8601>/<first 8 of digest>`, or `<version>/unstamped`. */
+export function buildLabel(b) {
+    if (b.digest === UNSTAMPED_DIGEST)
+        return `${b.version}/unstamped`;
+    const iso = new Date(b.builtAt).toISOString().replace(/\.\d{3}Z$/, "Z");
+    return `${b.version}/${iso}/${b.digest.slice(0, 8)}`;
+}
+//# sourceMappingURL=build-id.js.map

package/dist/ipc/build-id.js.map

@@ -0,0 +1 @@
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