Route Move light ownership through Muninn

docs/implementation-plan.md

@@ -41,15 +41,18 @@ a named invariant that the native runtime cannot protect yet.
   schema projection, not pose capture or Mimir fusion.
 - `scripts/start-nightwing-move-tracking.ps1` is the narrow live Nightwing
   bring-up path: it starts the `/eve/periwinkle` receiver/recorder on Starfire,
-  stages the Nightwing Eye/Move Python worker, lights configured USB Moves via
-  HID report `0x06`, and publishes `mimir.psmove_light_state.v1` plus
+  stages the Nightwing Eye/Move Python worker, keeps a heartbeat for field
+  liveness, and publishes `mimir.psmove_light_state.v1` plus
   `mimir.move_controller_observation_state.v1` blob observations from both PS3
   Eyes. The blob stream is optical witness evidence for later pose fusion, not
   the final 6DoF pose owner.
-- `scripts/start-starfire-move-light.ps1` is the Starfire-local USB Move light
-  owner. It launches `Mimir.PsMoveProbe` in steady hold mode so the locally
-  attached `VID_054C/PID_03D5` Move sphere stays lit for calibration/tracking
-  receipts.
+- Structured PS Move light pulses are Muninn output commands. Mimir publishes
+  `muninn.move_light_command.v1` over CultNet/CultMesh to the Muninn daemon on
+  the host that owns the USB-attached Move. Muninn writes PS Move HID report
+  `0x06` locally and updates command state/receipt.
+  `scripts/start-starfire-move-light.ps1` and Nightwing direct HID writes are
+  now smoke/bootstrap paths for hardware proof when Muninn is not yet running
+  on that host.
 - Odin's Muninn organ owns Move optical candidate extraction in
   `E:\Projects\Odin\crates\muninn-move-tracker` and publishes/feeds
   `muninn.move_marker_candidate.v1` records. Mimir consumes those candidate

notes/current-system-map.md

@@ -110,6 +110,11 @@ Authority:
 - Starfire-local Move tracking is a local Mimir/Muninn tracking stream.
 - Nightwing Move tracking is emitted by Muninn on Nightwing over the typed
   observation path.
+- Structured PS Move light pulses are Muninn output commands. Mimir requests
+  them by sending `muninn.move_light_command.v1` over CultNet/CultMesh to the
+  Muninn daemon on the host with the USB-attached Move; Mimir does not write
+  remote HID directly except through temporary smoke scripts used to prove
+  hardware behavior before Muninn is available on that host.
 - Odin discovers and projects the stream/schema surface for operator and agent
   access.
 - Mimir owns subscription, rolling retention, clock alignment, and later fusion
@@ -123,18 +128,19 @@ Move observation into two tracking buffers.
 Live Nightwing bring-up uses `scripts/start-nightwing-move-tracking.ps1`.
 Starfire starts `Mimir.EveSensorReceiver` on `/eve/periwinkle`, stages
 `nw_eye_cap.py`, `nw_move_hint.py`, and `nightwing_typed_witness_publisher.py`
-onto Nightwing, and launches the publisher with `--track-eyes` plus explicit
-`--move-light name=/dev/hidrawN:#rrggbb` HID ownership. The worker keeps the
-USB Move sphere lit with PS Move report `0x06`, emits
-`mimir.psmove_light_state.v1`, and publishes compact
+onto Nightwing, and launches the publisher with `--track-eyes` plus a heartbeat
+freshness file. The publisher can still accept
+`--move-light name=/dev/hidrawN:#rrggbb` as an explicit smoke/bootstrap edge,
+but runtime structured light commands belong to Muninn. The worker publishes
+compact
 `mimir.move_controller_observation_state.v1` blob observations from both PS3
 Eyes. Those Eye/Move observations are the live optical witness feeding the later
 pose/fusion owner; they are not themselves the final 6DoF pose authority.
 
-Starfire-local Move illumination uses `scripts/start-starfire-move-light.ps1`.
+Starfire-local Move illumination smoke uses `scripts/start-starfire-move-light.ps1`.
 That launcher runs `Mimir.PsMoveProbe` against the local Windows HID col01
-output collection and refreshes the PS Move LED report so the USB-attached Move
-stays visible as a tracking/calibration marker.
+output collection and refreshes the PS Move LED report for hardware proof when
+Muninn is not available on Starfire yet.
 
 Odin's Muninn organ owns the Move optical extraction stage for sensor stream
 exposure. Its Rust crate lives in `E:\Projects\Odin\crates\muninn-move-tracker`

scripts/start-nightwing-move-tracking.ps1

@@ -4,9 +4,7 @@ param(
     [string]$StarfireHost = "192.168.1.66",
     [string]$Path = "/eve/periwinkle",
     [string]$EyeDevices = "/dev/video2,/dev/video3",
-    [string[]]$MoveLight = @(
-        "move-usb=/dev/hidraw1:#35ff6c"
-    ),
+    [string[]]$MoveLight = @(),
     [string]$RecorderRoot = "C:\Users\Meta\Videos\Mimir\VerseCaptures",
     [switch]$SkipRecorder,
     [switch]$DryRun
@@ -18,6 +16,9 @@ $runId = Get-Date -Format "yyyyMMdd-HHmmss"
 $runDir = Join-Path $repo "artifacts\runtime\nightwing-move-tracking-$runId"
 $witnessUrl = "ws://$StarfireHost`:$Port$Path"
 $subscribeUrl = "ws://127.0.0.1:$Port$Path/subscribe"
+$remoteLog = "~/.local/state/gamecult/mimir-nightwing-move-tracking-$runId.log"
+$remotePid = "~/.local/state/gamecult/nightwing-typed-witness.pid"
+$remoteHeartbeat = "~/.local/state/gamecult/nightwing-typed-witness.heartbeat"
 
 New-Item -ItemType Directory -Force -Path $runDir | Out-Null
 New-Item -ItemType Directory -Force -Path $RecorderRoot | Out-Null
@@ -126,13 +127,11 @@ if ($DryRun) {
     scp (Join-Path $repo "tools\nw_move_hint.py") "${NightwingHost}:/tmp/nw_move_hint.py" | Out-Null
     scp (Join-Path $repo "tools\nightwing_typed_witness_publisher.py") "${NightwingHost}:/tmp/nightwing_typed_witness_publisher.py" | Out-Null
 
-    $remoteLog = "~/.local/state/gamecult/mimir-nightwing-move-tracking-$runId.log"
-    $remotePid = "~/.local/state/gamecult/mimir-nightwing-move-tracking-$runId.pid"
     $moveArgs = ($MoveLight | ForEach-Object { "--move-light '$($_ -replace "'", "'\''")'" }) -join " "
     $remoteScript = @"
 mkdir -p ~/.local/state/gamecult
 pkill -f '/tmp/nightwing_typed_witness_publisher.py.*--track-eyes' || true
-nohup python3 /tmp/nightwing_typed_witness_publisher.py --url '$witnessUrl' --track-eyes --track-builtin-camera --track-builtin-mic --interval 0.10 --eye-devices '$EyeDevices' --eye-window-seconds 0.08 --tracking-stride 6 $moveArgs > $remoteLog 2>&1 < /dev/null &
+nohup python3 /tmp/nightwing_typed_witness_publisher.py --url '$witnessUrl' --track-eyes --track-builtin-camera --track-builtin-mic --interval 0.10 --heartbeat-path '$remoteHeartbeat' --eye-devices '$EyeDevices' --eye-window-seconds 0.08 --tracking-stride 6 $moveArgs > $remoteLog 2>&1 < /dev/null &
 sleep 0.5
 pgrep -n -f '/tmp/nightwing_typed_witness_publisher.py.*--track-eyes' > $remotePid
 cat $remotePid
@@ -150,8 +149,9 @@ $manifest = [ordered]@{
     runDir = $runDir
     witnessUrl = $witnessUrl
     subscribeUrl = $subscribeUrl
+    heartbeatPath = $remoteHeartbeat
     eyeDevices = $EyeDevices
-    moveLights = $MoveLight
+    directHidSmokeMoveLights = $MoveLight
     startedAt = (Get-Date).ToString("o")
 }
 $manifest | ConvertTo-Json -Depth 5 | Set-Content -Path (Join-Path $runDir "supervisor.json")

state/evidence.jsonl

@@ -128,3 +128,4 @@
 {"ts": "2026-06-10T18:11:18+01:00", "type": "verification", "status": "ok", "note": "Started the Starfire-local USB Move light owner. Windows sees Sony VID_054C/PID_03D5 with col01 output reports; scripts/start-starfire-move-light.ps1 launched Mimir.PsMoveProbe PID 27344 with --rgb #35ff6c --hold-seconds 0 --refresh-ms 250, and artifacts/runtime/starfire-move-light-20260610-180943/move-light-events.jsonl shows repeated mimir.psmove_usb_pulse_event.v1 hold writes succeeding with ok rgb=#35FF6C bytes=49."}
 {"ts": "2026-06-10T20:33:54+01:00", "type": "implementation", "status": "ok", "note": "Added native/move_tracker as Rust-orchestrated PS Move optical candidate extraction: Rust owns dispatch/FFI/CPU mirror; HLSL owns 16px-tile luma reduction. Scope is marker candidates only, before calibration/triangulation/IMU fusion/prediction."}
 {"ts": "2026-06-10T20:49:06+01:00", "type": "decision", "status": "ok", "note": "Corrected Move optical candidate ownership: the Rust/HLSL tracker moved out of Mimir and into Odin's Muninn organ at E:\\Projects\\Odin\\crates\\muninn-move-tracker. Mimir consumes muninn.move_marker_candidate.v1 streams and no longer owns raw optical extraction."}
+{"ts": "2026-06-11T07:57:05+01:00", "type": "decision", "status": "ok", "note": "PS Move structured light ownership moved to Odin/Muninn: Mimir requests muninn.move_light_command.v1 over CultNet/CultMesh; Muninn serve consumes host-addressed pending commands, writes local HID report 0x06, and updates command state. Nightwing direct HID launcher path is opt-in smoke/bootstrap only."}

state/map.yaml

@@ -69,6 +69,10 @@ invariants:
   - Move tracking observations are stream samples, not program controls or
     dashboard truth. Starfire-local and Nightwing-remote Move samples must enter
     Mimir.Runtime as typed tracking buffers before Fensalir or Eve acts on them.
+  - Structured PS Move light pulses are Muninn output commands. Mimir requests
+    `muninn.move_light_command.v1` over CultNet/CultMesh from the Muninn daemon
+    on the host with the USB-attached Move; direct HID writes in Mimir scripts
+    are temporary smoke/bootstrap edges only.
 
 accepted_design:
   - `Mimir.slnx` owns the app surface.

tools/nightwing_typed_witness_publisher.py

@@ -447,6 +447,9 @@ def run(args: argparse.Namespace) -> None:
                 if args.track_eyes:
                     for payload in eye_tracking_observations(args, sequence):
                         ws.send_binary(payload)
+                if args.heartbeat_path:
+                    with open(args.heartbeat_path, "w", encoding="utf-8") as handle:
+                        handle.write(f"{int(time.time())} {sequence}\n")
                 sequence += 1
                 if args.once:
                     return
@@ -464,6 +467,7 @@ def main() -> int:
     parser.add_argument("--interval", type=float, default=0.25)
     parser.add_argument("--reconnect-seconds", type=float, default=2.0)
     parser.add_argument("--once", action="store_true")
+    parser.add_argument("--heartbeat-path", default="", help="Write a small freshness witness after successful sends.")
     parser.add_argument("--track-eyes", action="store_true", help="Publish compact Nightwing-local PS3 Eye Move-sphere observations.")
     parser.add_argument("--track-builtin-camera", action="store_true", help="Publish compact status for Nightwing-local non-Eye camera devices.")
     parser.add_argument("--track-builtin-mic", action="store_true", help="Publish compact ALSA microphone level observations.")