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Mimir/docs/move-controller-stream.md
Meta Vens 2ecb36bcc9 Publish Nightwing typed witness receipts
2026-05-31 21:10:35 +01:00

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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.

Runtime Profile

Use:

$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:

dotnet run --project .\src\Mimir.BufferSmoke\Mimir.BufferSmoke.csproj -- --move-controller-overlay-smoke

Run the live ingest smoke once Raven is sending:

$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 screen capture from the logged-in desktop session:

E:\Projects\Mimir\scripts\start-raven-screen-capture-sender.ps1 -TargetHost 192.168.1.66 -Port 5200

Route Raven program audio into the Scarlett path that appears on asio-ch2/asio-ch3. That audio is the timing witness that earns the raven-sync correction for raven-display.

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.