# Move Controller Stream ## Objective Ship the first Mimir program surface around one concrete show shape: Kiyo Pro is the RGB program view, PS3 Eyes track multiple PS Move spheres, Raven screen capture enters as a synchronized video source, and Scarlett ASIO provides the two hero mics plus Raven program-loopback timing evidence. ## Authority Map - Owner: `Mimir.Runtime` owns sample ingest, rolling buffers, and typed visual evidence. Fensalir owns overlay presentation and final program pixels. - Inputs: Kiyo Pro YUY2 video, both PS3 Eye Bayer8 feeds, Scarlett ASIO channels `asio-ch0..asio-ch3`, and Raven SRT screen capture on port `5200`. - Outputs: `kiyo-pro-rgb` is the base program view; PS Move controller histories lower as Feature evidence through `MimirMoveControllerTracker`; `raven-display` stays in the `raven-sync` clock domain; ASIO labels identify shotgun, cardioid, and Raven loopback lanes. - Derived state: Move 2D histories are observations, not 6DoF pose. Raven display timing is derived from Scarlett audio evidence, not SRT arrival time. - Forbidden writers: PS3 Eye blob tracks do not own camera calibration; Raven network timestamps do not own global sync; Kiyo Pro does not own high-rate motion truth. - Cut line: this profile is the first streamable overlay product, not the full online calibration solve. ## Nightwing Eyes/Moves Split Nightwing is the right body for the PS3 Eyes and PS Move controllers: it has the spare USB topology, BlueZ/Bluetooth, and the local HID path. That does not make it a camera-placement authority. The split is: - Nightwing-local authority: read PS3 Eye frames, talk to PS Move HID/Bluetooth, apply LED schedules, preserve device timestamps, and extract compact sphere, marker, and sparse Eye feature observations. - Starfire authority: own the canonical rolling window, Scarlett timing, global residual solve, camera placement, Kiyo/Raven program sync, and OBS program publication. - Fensalir authority: own D3D12 dense feature extraction/fusion, surface claims, splat/reservoir resolution, and program pixels. `MimirDistributedWitnessConfigurations.NightwingEyesMoves` records this as a typed witness: it may emit `mimir.move_controller_observation_state`, `mimir.camera_feature_track_state`, and `mimir.visual_marker_state`, but it must not stream raw Eye media as the normal live contract and must not own the canonical clock. Raw frames from Nightwing are diagnostic receipts only. The first Nightwing receipt is good enough to build on: both PS3 Eyes enumerate as stock Linux `ov534`/`gspca` V4L2 cameras on `/dev/video2` and `/dev/video3`. Default V4L2 cadence is only 30 fps, but explicitly setting `timeperframe=1/187` before streaming makes both cameras deliver about 187 fps at 320x240 with zero sequence gaps. The witness worker must set frame interval; otherwise Linux will quietly look worse than it is. Nightwing also has a typed witness publisher staged as `~/.local/bin/nightwing_typed_witness_publisher.py`. The repo source is `tools/nightwing_typed_witness_publisher.py`. It sends binary MessagePack `mimir.eve_sensor_observation.v1` records to `Mimir.EveSensorReceiver` on `ws://192.168.1.66:8796/eve/periwinkle`; the receiver normalizes them into the Mimir observation ledger, Odin projects them as `observation-stream` nodes, and Nightwing's Eve TUI lowers those nodes in the `CultMesh Witness Streams` panel. The current status records are camera-device receipts for `/dev/video*` and a `nightwing-leap-tracking` placeholder that is intentionally `0` until real Leap tracking owns that signal. Values are `[present, videoIndex, isPs3Eye]` for camera-device receipts. `MimirRoomCalibrationLockSolver` is the first room-lock coordinator. It consumes the LED string candidate/residual, the camera-rig pose update frame, Move controller feature-history candidates, and PS3 Eye sparse-feature candidates. It only reports `Locked` when every witness family is present: multiple cameras share enough LED indices, the rig solver produced enough pose updates with low mean ray residual, multiple Move identities have stable history, and multiple Eyes contribute enough stable feature tracks. Missing families are reported by name instead of being papered over. `Mimir.BufferSmoke --room-calibration-lock-smoke` proves a synthetic three-camera LED string, two Moves, and two Eyes lock at confidence `0.778`, while removing Move history correctly drops the result to `InsufficientWitnesses`. ## Runtime Profile For the current stream-proof demo, use the corrected Starfire/Nightwing/Raven profile: ```powershell E:\Projects\Mimir\scripts\start-stream-proof.ps1 ``` This profile keeps Nightwing raw Eye pixels off Starfire. Starfire ingests local Scarlett ASIO, local Leap stereo IR, local Kiyo Pro RGB, Raven screen capture, and Raven Realtek loopback PCM. Nightwing publishes compact Eye/Move observations through `/eve/periwinkle`; those observations are calibration and overlay evidence, not raw media ownership. The profile declares: - `leap-stereo-ir`: LeapUVC stereo IR / depth root. - `kiyo-pro-rgb`: Kiyo Pro AR program view. - `raven-display`: Raven screen capture from the muxed Raven A/V stream, locally demuxed to SRT port `5210`, in the `raven-sync` clock domain. - `raven-realtk-loopback`: Raven Realtek render loopback from the same muxed Raven A/V stream, locally demuxed as f32 PCM to SRT port `5212`, also in `raven-sync`. - `focusrite-asio`: Starfire hero mics plus local Raven/program loopback lanes on `asio-ch0..asio-ch3`. For the narrower Leap/Eyes/Kiyo Pro bring-up path, use: ```powershell E:\Projects\Mimir\scripts\start-mvp-leap-eyes-kiyo.ps1 ``` This launches Starfire with only local Scarlett ASIO, local Leap stereo IR, and local Kiyo Pro RGB in the Mimir rolling buffers. Nightwing does not stream PS3 Eye pixels to Starfire. The launcher stages `nw_eye_cap.py`, `nw_move_hint.py`, and `nightwing_typed_witness_publisher.py` on Nightwing, then starts the typed witness publisher with `--track-eyes`. Nightwing reads `/dev/video2` and `/dev/video3`, extracts compact Move-sphere observations, and sends `mimir.move_controller_observation_state.v1` claims to the `/eve/periwinkle` CultMesh observation receiver. Starfire/Fensalir can consume those claims for overlays and calibration without inheriting Nightwing's raw camera bandwidth or local tracking authority. The MVP profile refuses to start when LeapUVC is not enumerated. That is intentional: the Leap is the dense close-range geometry root, not an optional checkbox pretending to be present. Use: ```powershell $env:MIMIR_RUNTIME_CONFIG = "E:\Projects\Mimir\config\mimir-runtime.move-stream.local.json" dotnet run --project .\src\Mimir.App\Mimir.App.csproj ``` The profile declares: - `kiyo-pro-rgb`: Kiyo Pro program view, 640x480 YUY2 at the current reliable 25 fps class. - `ps3-eye-0`, `ps3-eye-1`: high-rate Move sphere visual witnesses. - `focusrite-asio`: one ASIO producer that emits: `asio-ch0` shotgun hero mic, `asio-ch1` cardioid hero mic, `asio-ch2` Raven program loopback L, and `asio-ch3` Raven program loopback R. - `raven-display`: Raven screen capture over SRT port `5200`. Run the synthetic overlay smoke: ```powershell dotnet run --project .\src\Mimir.BufferSmoke\Mimir.BufferSmoke.csproj -- --move-controller-overlay-smoke ``` Run the live ingest smoke once Raven is sending: ```powershell $env:MIMIR_RUNTIME_CONFIG = "E:\Projects\Mimir\config\mimir-runtime.move-stream.local.json" dotnet run --project .\src\Mimir.BufferSmoke\Mimir.BufferSmoke.csproj -- --seconds 5 --require-samples --sync-reference asio-ch2 ``` ## Raven Sender On Raven, start the muxed A/V sender from the logged-in desktop session: ```powershell E:\Projects\Mimir\scripts\start-raven-av-sender.ps1 -TargetHost 192.168.1.66 -Port 5200 ``` That sender captures the desktop through `gdigrab`, encodes video with `h264_nvenc`, captures Realtek/default render loopback through the repo WASAPI loopback script, encodes audio as AAC, and muxes both into one MPEG-TS SRT stream. On Starfire, `scripts\start-stream-proof.ps1` starts `scripts\start-raven-av-demux.ps1`, which listens on port `5200` and splits the single transport into local Mimir ingest legs: ```powershell raven-display local SRT 5210, copied H.264/MPEG-TS for decode raven-realtk-loopback local SRT 5212, decoded f32 PCM ``` If Raven program audio is also routed into Starfire Scarlett on `asio-ch2/asio-ch3`, that remains another strong local timing witness. The Realtek loopback is now part of the same Raven transport as the display before Starfire demuxes it for Mimir's raw ingest APIs. Raven display sync is not allowed to ride on SRT arrival time. Both `raven-display` and `raven-realtk-loopback` are in the `raven-sync` clock domain. When audio sync estimates the Realtek loopback offset against the Scarlett reference, `MimirSynchronizedBufferPlanner` applies that correction to the whole `raven-sync` domain, including the display. The LAN transport is now one muxed A/V stream; the local split exists only at the Starfire demux edge because Mimir currently ingests raw video and PCM through separate source adapters. ## Kiyo AR Trail Receipt The first offline proof that the Kiyo view can accept Move trails is: ```powershell & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\solve_stream_proof_frustum.py .\artifacts\runtime\all-sensor-articulated-20260531-232349\sweep\calibration-observations.json ``` That solver uses Nightwing's two matched optical witnesses as a provisional local witness space, fits the Kiyo Pro observations into it, and writes a `mimir.stream_proof_frustum_solve.v1` receipt plus an AR trail preview. It is enough for the stream demo and for Starfire's global residual owner to consume; it is not final metric room calibration. ## Multiple Move Controllers Do not collapse Move observations into a generic bright blob. Each controller has its own `controllerId` and expected RGB/time code. The PS3 Eyes can track the sphere as a high-rate brightness witness; Kiyo Pro can later confirm color identity; the commanded flash schedule ties the observed marker to the controller identity. `MimirMoveControllerTracker` keeps a bounded history per controller and lowers those histories into the existing Feature evidence path. This is deliberately 2D observation history. 6DoF pose waits for calibrated frustums and the global residual owner. ## Music-Keyed Calibration Words `tools/music_keyed_move_chirp_sync.py` is the first planner for calibration words that are both musical and machine-decodable. It listens to Scarlett ASIO, uses the same Perlines-style adaptive FFT delta whitening as `tools/nightwing_psmove_music_pulse.py`, autocorrelates the whitened broadband spectral-rise function for tempo, estimates a lightweight root from recent best-fit fundamentals, then writes one shared plan: - beat-aligned chirps quantized to the estimated minor-pentatonic scale; - de Bruijn-coded event symbols so adjacent timing/frequency/color words remain distinguishable; - per-Move visual words using stable controller identities and unique colors; the default is no longer a square flash, but a sampled RGB contour with attack/release envelope, symbol-dependent hue glide, tremolo articulation, and an emphasized controller lane; - a JSON receipt shaped like AquaSynth song analysis vocabulary: `tempo_bpm`, `beat_seconds`, `tempo_confidence`, `root_note`, `suggested_scale`, `scale_frequencies_hz`, and `whitened_spectral_autocorr`. The synthetic smoke is: ```powershell & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\music_keyed_move_chirp_sync.py --mode synthetic --dry-run --events 8 --out-dir artifacts/runtime/music-keyed-move-chirp-sync-smoke ``` The live dry-run against Scarlett is: ```powershell & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\music_keyed_move_chirp_sync.py --dry-run --analyze-seconds 5 --events 8 --out-dir artifacts/runtime/music-keyed-move-chirp-sync-live-dry ``` For double-time material: ```powershell & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\music_keyed_move_chirp_sync.py --dry-run --tempo-grid doubletime --tempo-max-bpm 260 --analyze-seconds 5 --events 8 --out-dir artifacts/runtime/music-keyed-move-chirp-sync-dirtyphonics-dry ``` On the 2026-05-31 live dry-run, the planner produced a usable but not final receipt: about `92.31` BPM, beat `0.650s`, tempo confidence `0.343`, root `A`, key confidence `0.716`. That is enough to prove the dataflow, not enough to claim final musical tempo authority. For dense double-time material, use `--tempo-grid doubletime`; the planner then selects the double-time member of the autocorrelation tempo family instead of preferring the slower parent grid. On the Dirtyphonics-style live source this produced about `171.43` BPM, beat `0.350s`, tempo confidence `0.358`, root `A`, key confidence `0.703` after widening the search ceiling with `--tempo-max-bpm 260`. The receipt records `tempo_family` so later decoders can see the selected grid alongside half-time/double-time alternatives. Visual calibration words are deliberately shaped like the audio words: one gesture carries more than one bit. `--visual-gesture contour` records a `mimir.move_visual_contour_word.v1` per Move per event, with `sample_rate_hz`, duration, base identity color, symbol emphasis, and the exact RGB samples sent over HID. Start conservatively around `--visual-gesture-hz 80`; the HID writer accepted a short 80 Hz contour test on Nightwing, but the useful rate is the rate cameras can recover cleanly, not merely the rate the controller accepts. `--visual-gesture square` remains available as a baseline comparator. `tools/sync_sweep.py` can now consume that exact plan with `--music-plan`. That makes the plan the single authority for audio chirps, sampled Move RGB contours, and offline video scoring. The sweep writes `gesture-plan.json`, `event-schedule.json`, copied/rendered `chirp-train.wav`, per-sensor captures, and `summary.json`. RGB camera receipts include a `visual_contour` block with brightness-envelope correlation and color-chroma error against the expected Move contour. The old peak-only score is still present as a timing witness; it no longer pretends square flashes are the only visual language. When `--music-plan` is used, the sweep also runs typed Mimir runtime sensor receipts unless `--skip-mimir-live` is passed. The default receipts are: - `config/mimir-runtime.perfect-machine.local.json` for local Leap stereo IR, Kiyo Pro, Kiyo, and local camera texture/depth/field-resource ingress; - `config/mimir-runtime.raven-eve.example.json` for Raven display and Eve camera/mic frame-event listeners. That receipt path is not raw media archival yet. It is the audit hook that prevents Leap or Eve from being omitted by a DirectShow/Nightwing-only sweep. After a sweep, run `tools/crunch_sync_sweep.py` over the sweep directory to extract a compact calibration observation table. It merges Nightwing's typed Move observations with local Kiyo/Kiyo Pro frame analysis, estimates each local video's schedule shift against the event train, and writes `calibration-observations.json` plus `calibration-observations.csv`. Example using an already-written musical plan: ```powershell & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\sync_sweep.py --music-plan artifacts/runtime/music-keyed-move-chirp-sync-live/music-keyed-move-chirp-plan.json --out-dir artifacts/runtime/all-sensor-articulated-sync & 'C:\Users\Meta\.cache\codex-runtimes\codex-primary-runtime\dependencies\python\python.exe' .\tools\crunch_sync_sweep.py artifacts/runtime/all-sensor-articulated-sync ``` The non-dry run targets the two wireless Nightwing Moves by default: `00:07:04:a6:be:5f` on `/dev/hidraw2` and `00:06:f5:23:e2:d1` on `/dev/hidraw3`. Nightwing now carries `/etc/udev/rules.d/70-move.rules`, which sets Bluetooth PS Move hidraw nodes to `root:input 0660`. The `metacrat` user is in `input`, so the non-root SSH writer can drive both spheres. Root SSH is available as the short local alias `nwroot` for maintenance only; the hot LED path should stay non-root.