enricobuehler
4834c2ee51
Phase 1 of the gyro program (design/gyro-program.md, G1-G5) — the five correctness fixes under it. Gyro aim integrates angular velocity over time, so each of these is not a cosmetic wrongness: a wrong scale is every rotation being the wrong size, a wrong clock is every rotation being integrated against a fictional dt, and a stale sample is rotation that never happened. G1 — the DualShock 4 calibration blob. A Sony pad does not assume a motion scale, it reads one out of a fixed calibration feature report. Ours declared 0.5 LSB per °/s and 8192 LSB/g while the wire delivers 20 and 10000, so every DS4-type session decoded gyro 40× too fast and acceleration 1.22× hot — since the backend shipped. The blob now states the wire's own units (the DualSense blob's numbers, deliberately: both pads consume the identical wire sample). Its interleaved per-axis order is NOT a bug and stays: the virtual pad declares BUS_USB, where interleaved is the correct layout; grouped is Bluetooth's. The same blob lives a second time in the UMDF driver, which is a separate WDK workspace that cannot depend on pf-inject — one wrong table in two files, where fixing one reads as fixing it. Both are fixed, and the DS4 feature reports now live in dualshock4_proto beside the DualSense's rather than in the Linux backend, so there is one canonical copy to point at. Field hosts keep the old blob until they update the host package. G2 — the gate that would have caught it. Nothing pinned any backend's declaration against the wire, so tests/motion_contract.rs now applies the CONSUMER's arithmetic (the kernel's, and SDL's, which differ) to each backend and asserts the result lands back on the wire constants — for the DualSense and DS4 blobs, and for the Deck and Switch Pro rescales. It also parses the driver's Rust source and re-derives the units from THAT, so the two copies cannot drift. Verified non-vacuous both ways: re-introducing the old blob fails with "declares a fractional 32/64 LSB per °/s", and reverting only the driver's copy fails with "the UMDF driver's DS4_FEATURE_CALIBRATION has drifted from pf-inject's". The wire units themselves move to punktfunk_core::input::gamepad, referenced by the client's capture scale, the Deck/Switch rescales, and the probe — whose at-rest vector said 16384 (a driver's number, not the wire's) and now says 1 g. G3 — real sensor clocks. The DualSense advanced its sensor timestamp by +1 raw unit per report (0.33 µs — a frozen clock) and the DS4 by a flat +188 (~1 ms) regardless of the real 4-8 ms cadence. Anything integrating rate × dt off that field got nonsense. All four backends now stamp elapsed monotonic time in their own units via a shared SensorClock, anchored to the pad's first report so an irregular publish loop cannot make it drift, and truncated to the field width — which reproduces the wrap real hardware does. G4 — motion is level-triggered and had no watchdog. merge_frame preserves the last sample and the heartbeat re-emits it, so a feed that stops leaves the pad rotating forever — and with G3's honest clock, at a dt that keeps growing. Rumble and the pen plane each have an idle timeout; motion now has one too, at 100 ms. Angular velocity only: acceleration is kept, because gravity is legitimately persistent and blanking it reads as free-fall. The SDL client parks its gyro at zero when a slot closes, which is the case we can flush rather than wait out. (The Apple half of this rides in PR #88.) G5 — a pad returning inside the 300 ms replug grace keeps the same device and skips the create path, so a different controller inherits the previous one's touch contact and rotation — and a pad with no gyro never sends a sample to correct it. sweep() now reports re-claims separately from drops, and the manager clears the rich plane on one. Rich fields only: rumble and hidout dedup deliberately survive a removal. Gates (Linux, CI image): fmt, build, clippy --all-targets -D warnings over pf-inject/punktfunk-core/punktfunk-probe/pf-client-core, and the test suites — 110 pf-inject unit + 6 contract + 29 pf-client-core gamepad, all green. Not yet verified on glass; the on-glass sign/scale session is G16.
punktfunk — probe (reference client)
punktfunk-probe is the headless reference client for the punktfunk/1 protocol — a
command-line tool for testing, latency measurement, and validating host behavior. It's not a
streaming app you'd watch on; it connects, exercises a plane, and reports numbers. If you want to
actually stream, use the Linux, Windows,
Apple, or Android clients.
Because it links the same punktfunk-core as every other client, it's also the canonical
example of driving the protocol end to end: QUIC control plane, UDP data plane, and the side planes
(input, audio, rumble) over QUIC datagrams.
What it does
- Receives a real stream, writes a playable elementary stream (
.h265/.h264/.av1— the extension tracks the negotiated codec; the probe advertises all three and the host picks), and reports per-frame capture→received latency percentiles (the host stamps each frame with its capture clock). - Verification mode against a synthetic host — byte-checks deterministic test frames.
- Exercises every plane with scripted test traffic:
--input-test(mouse/keyboard),--mic-test(a 440 Hz Opus tone up to the host mic),--touch-test(a synthetic finger),--rich-input-test(DualSense touchpad + motion, logging the HID-output feedback that comes back). - Trust —
--pin <64-hex>pins the host fingerprint;--pair <PIN>runs the SPAKE2 pairing ceremony and prints the verified fingerprint to pin from then on. Without a pin it trusts on first use. - Discovery —
--discover [secs]browses the LAN for_punktfunk._udphosts and prints each (name, addr:port, pairing requirement, cert fingerprint), then exits. - Negotiation knobs —
--mode WxHxFPS,--remode(mid-stream mode change),--bitrate,--codec auto|h264|hevc|av1(preference; the host resolves),--audio-channels(stereo / 5.1 / 7.1),--compositor,--gamepad,--launch,--speed-test. Env:PUNKTFUNK_CLIENT_10BIT=1/PUNKTFUNK_CLIENT_444=1advertise the 10-bit / 4:4:4 client caps (for testing a host'sPUNKTFUNK_10BIT/PUNKTFUNK_444).
Usage
# stream 720p120 from a host, save the video, and print latency percentiles:
cargo run -p punktfunk-probe -- --mode 1280x720x120 --connect HOST:PORT --out /tmp/a.h265
# list hosts on the LAN:
cargo run -p punktfunk-probe -- --discover
# pair with a host that requires it (read the PIN off the host), then stream:
cargo run -p punktfunk-probe -- --connect HOST:PORT --pair 1234
cargo run -p punktfunk-probe -- --connect HOST:PORT --pin <64-hex> --input-test
Full flag reference is in the module doc-comment at the top of src/main.rs.
Related
- Project README — the host, the streaming clients, and the protocol
punktfunk-host punktfunk1-host— the persistent native-protocol listener to probe against (see the "Running on this box" section of the repo README /CLAUDE.md)