diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 85d1407..87524b4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -68,7 +68,7 @@ jobs:
         with:
           persist-credentials: false
       - run: rustup toolchain install "$RUSTUP_TOOLCHAIN" --profile minimal --component clippy --no-self-update
-      - run: cargo clippy --all-targets --locked -- -D warnings
+      - run: cargo clippy --workspace --all-targets --locked -- -D warnings
 
   test:
     needs: changes
@@ -79,7 +79,7 @@ jobs:
         with:
           persist-credentials: false
       - run: rustup toolchain install "$RUSTUP_TOOLCHAIN" --profile minimal --no-self-update
-      - run: cargo test --locked
+      - run: cargo test --workspace --locked
 
   # Builds and tests with the oldest Rust that Cargo.toml's rust-version claims.
   msrv:
@@ -94,7 +94,7 @@ jobs:
           msrv=$(sed -n 's/^rust-version = "\(.*\)"/\1/p' Cargo.toml)
           test -n "$msrv"
           rustup toolchain install "$msrv" --profile minimal --no-self-update
-          cargo "+$msrv" test --locked
+          cargo "+$msrv" test --workspace --locked
 
   # The one check the main ruleset requires. Code changes need fmt, clippy, test and msrv to
   # succeed; docs-only changes need them skipped. Anything else fails.
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 4db498c..f4d928d 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -22,6 +22,7 @@ on:
       - scripts/**
       - Cargo.toml
       - Cargo.lock
+      - crates/*/Cargo.toml
       - README.md
       - CHANGELOG.md
       - LICENSE
@@ -115,13 +116,13 @@ jobs:
           rustup toolchain install "$RUSTUP_TOOLCHAIN" --profile minimal
           --component rustfmt --component clippy --no-self-update
       - run: cargo fmt --check
-      - run: cargo clippy --all-targets --locked -- -D warnings
-      - run: cargo test --locked
+      - run: cargo clippy --workspace --all-targets --locked -- -D warnings
+      - run: cargo test --workspace --locked
       - run: |
           msrv=$(sed -n 's/^rust-version = "\(.*\)"/\1/p' Cargo.toml)
           test -n "$msrv"
           rustup toolchain install "$msrv" --profile minimal --no-self-update
-          cargo "+$msrv" test --locked
+          cargo "+$msrv" test --workspace --locked
 
   # One job per package format and architecture: a failure reruns only that job.
   binary:
@@ -200,7 +201,7 @@ jobs:
           mkdir dist
           # no rebuild: package the binary from the binary job (artifacts drop the mode)
           chmod +x target/release/obsbot4linux
-          cargo deb --no-build --deb-revision "" -o "dist/obsbot4linux_${ver}_$DEB.deb"
+          cargo deb -p obsbot4linux --no-build --deb-revision "" -o "dist/obsbot4linux_${ver}_$DEB.deb"
       - uses: actions/upload-artifact@cf430e030ddbb5b0abf93d22962f4752f3646cd9 # v7.0.2
         with:
           name: dist-deb-${{ matrix.arch }}
@@ -237,7 +238,7 @@ jobs:
           ver=$VER
           mkdir dist
           chmod +x target/release/obsbot4linux
-          cargo generate-rpm -o "dist/obsbot4linux-$ver-1.$ARCH.rpm"
+          cargo generate-rpm -p crates/obsbot4linux -o "dist/obsbot4linux-$ver-1.$ARCH.rpm"
       - uses: actions/upload-artifact@cf430e030ddbb5b0abf93d22962f4752f3646cd9 # v7.0.2
         with:
           name: dist-rpm-${{ matrix.arch }}
@@ -276,10 +277,60 @@ jobs:
           path: dist/*
           if-no-files-found: error
 
+  # Lists the files of every package and compares the list with packaging/contents.txt, so that
+  # a change to what a package holds shows up in review. A release needs it too.
+  contents:
+    needs: [version, binary, deb, rpm, arch]
+    runs-on: ubuntu-22.04
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          persist-credentials: false
+      - uses: actions/download-artifact@9000827ccba6bdab643e8b6fd33ac0654aef8333 # v8.0.2
+        with:
+          path: dist
+          pattern: dist-*
+          merge-multiple: true
+      - run: sudo apt-get install -y --no-install-recommends libarchive-tools
+      # [profile.release] strip = true must reach every package (cargo ignores a member
+      # manifest's profile, and the file list alone would not show it)
+      - name: The packaged binaries are stripped
+        run: |
+          for pkg in dist/obsbot4linux*; do
+            case $pkg in
+            *.deb) bsdtar -xOf "$pkg" 'data.tar*' > payload ;;
+            *) cp "$pkg" payload ;;
+            esac
+            bin=$(bsdtar -tf payload | grep -E '(usr/bin|-linux)/obsbot4linux$')
+            bsdtar -xOf payload "$bin" > obsbot4linux.bin
+            info=$(file -b obsbot4linux.bin)
+            echo "$pkg: $info"
+            case $info in
+            *', stripped') ;;
+            *) echo "::error::$pkg ships an unstripped binary"; exit 1 ;;
+            esac
+          done
+          rm -f payload obsbot4linux.bin
+      - name: Compare the package contents
+        env:
+          VER: ${{ needs.version.outputs.ver }}
+        run: |
+          scripts/package-contents.sh dist "$VER" > contents.txt
+          cat contents.txt
+          diff -u packaging/contents.txt contents.txt
+      # the list itself, also when it differs, to update packaging/contents.txt from
+      - if: always()
+        uses: actions/upload-artifact@cf430e030ddbb5b0abf93d22962f4752f3646cd9 # v7.0.2
+        with:
+          name: package-contents
+          path: contents.txt
+          if-no-files-found: error
+
   # Tags only: a pull request builds the packages above and publishes nothing.
   release:
     if: startsWith(github.ref, 'refs/tags/')
-    needs: [binary, deb, rpm, arch]
+    needs: [binary, deb, rpm, arch, contents]
     runs-on: ubuntu-22.04
     timeout-minutes: 15
     permissions:
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3217627..d82229f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,9 @@ All notable changes to OBSBot4Linux. The format follows
 
 - The repository moved to github.com/hellwand/obsbot4linux on 2026-11-12; the old address redirects (the link change itself landed in #109).
 - README and package text now say "most settings OBSBOT Center offers" and link `docs/center-parity.md` for the gaps; they also state the glibc 2.34 floor, how to switch to the socket units while the widget's daemon runs, to restart the daemon after an upgrade (socket users: `systemctl --user restart obsbot4linux.service`; a daemon started by `watch` ends with the shell's unit), that `zoom F --speed S` and `zoom stop` leave the AI mode alone, the `device busy` window of the on-air probe on uvcvideo up to 6.16, and the order of auto and manual image controls (#121).
+- The source is a cargo workspace now: `crates/obsbot-device` holds the camera access,
+  `crates/obsbot4linux` the CLI and the daemon. The program, its output and the packages do not
+  change.
 
 ### Fixed
 
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index c54bd13..64fc003 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -4,8 +4,8 @@ Every change goes through an issue and a pull request, also the maintainer's:
 
 1. Open an issue: what is wrong or missing, how to reproduce it, which camera and firmware.
 2. Open a pull request against `main` whose description starts with `Fixes #<issue>`.
-3. CI must be green (`cargo fmt --check`, `cargo clippy --all-targets --locked -- -D warnings`,
-   `cargo test`, and `cargo test` again with the `rust-version` from `Cargo.toml`).
+3. CI must be green (`cargo fmt --check`, `cargo clippy --workspace --all-targets --locked -- -D warnings`,
+   `cargo test --workspace`, and `cargo test --workspace` again with the `rust-version` from `Cargo.toml`).
    Changes that only touch docs (Markdown files, `LICENSE`, `docs/`) skip those four; the
    `required` check still reports. No changelog entry is enforced per pull request; the release
    tag needs its `CHANGELOG.md` section.
diff --git a/Cargo.lock b/Cargo.lock
index 32c3f13..6ec3088 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -165,7 +165,7 @@ dependencies = [
 ]
 
 [[package]]
-name = "obsbot4linux"
+name = "obsbot-device"
 version = "0.13.2"
 dependencies = [
  "clap",
@@ -176,6 +176,17 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "obsbot4linux"
+version = "0.13.2"
+dependencies = [
+ "clap",
+ "nix",
+ "obsbot-device",
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "once_cell_polyfill"
 version = "1.70.2"
diff --git a/Cargo.toml b/Cargo.toml
index a71a6e4..c853df5 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,57 +1,25 @@
-[package]
-name = "obsbot4linux"
+[workspace]
+resolver = "3"
+members = ["crates/obsbot-device", "crates/obsbot4linux"]
+
+[workspace.package]
 version = "0.13.2"
 edition = "2024"
 rust-version = "1.88"
-description = "Control OBSBOT webcams on Linux from the console and the DMS widget"
 authors = ["Thomas Kroll"]
 license = "GPL-3.0-or-later"
 repository = "https://github.com/hellwand/obsbot4linux"
 homepage = "https://github.com/hellwand/obsbot4linux"
-readme = "README.md"
 publish = false
 
-[lib]
-name = "obsbot4linux"
-path = "src/lib.rs"
-
-[[bin]]
-name = "obsbot4linux"
-path = "src/main.rs"
-
-[dependencies]
+[workspace.dependencies]
+obsbot-device = { path = "crates/obsbot-device" }
 clap = { version = "4", features = ["derive"] }
 nix = { version = "0.31", features = ["fs", "ioctl"] }
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 thiserror = "2"
+hex = "0.4"
 
 [profile.release]
 strip = true
-
-[dev-dependencies]
-hex = "0.4"
-
-[package.metadata.deb]
-maintainer = "Thomas Kroll <t.kroll@outlook.com>"
-section = "video"
-extended-description = "Most settings OBSBOT Center offers, from the console and from the DMS bar widget.\nWhat is missing: https://github.com/hellwand/obsbot4linux/blob/main/docs/center-parity.md\nThe obsbot4linux daemon (systemd user socket) owns the camera state."
-depends = "$auto"
-license-file = ["LICENSE", "0"]
-assets = [
-    ["target/release/obsbot4linux", "usr/bin/", "755"],
-    ["packaging/systemd/obsbot4linux.service", "usr/lib/systemd/user/", "644"],
-    ["packaging/systemd/obsbot4linux.socket", "usr/lib/systemd/user/", "644"],
-    ["README.md", "usr/share/doc/obsbot4linux/", "644"],
-    ["CHANGELOG.md", "usr/share/doc/obsbot4linux/", "644"],
-]
-
-[package.metadata.generate-rpm]
-assets = [
-    { source = "target/release/obsbot4linux", dest = "/usr/bin/obsbot4linux", mode = "755" },
-    { source = "packaging/systemd/obsbot4linux.service", dest = "/usr/lib/systemd/user/obsbot4linux.service", mode = "644" },
-    { source = "packaging/systemd/obsbot4linux.socket", dest = "/usr/lib/systemd/user/obsbot4linux.socket", mode = "644" },
-    { source = "README.md", dest = "/usr/share/doc/obsbot4linux/README.md", mode = "644", doc = true },
-    { source = "CHANGELOG.md", dest = "/usr/share/doc/obsbot4linux/CHANGELOG.md", mode = "644", doc = true },
-    { source = "LICENSE", dest = "/usr/share/licenses/obsbot4linux/LICENSE", mode = "644" },
-]
diff --git a/README.md b/README.md
index 05c120d..7f93e6c 100644
--- a/README.md
+++ b/README.md
@@ -407,7 +407,7 @@ it does not arm the flag but consumes one that a recall or `0x6604` armed earlie
 goes Static on arrival; afterwards tracking may stay suspended, since the view's actions name no
 AI mode, as with `startup go`. Not seen so far: tracking stayed on after a `zone view go` in AI normal. The flag part is still to be confirmed.
 
-Adding a model: an entry in `MODELS` in `src/models.rs` (name, USB id, by-id and card name
+Adding a model: an entry in `MODELS` in `crates/obsbot-device/src/registry.rs` (name, USB id, by-id and card name
 patterns) makes it detected. Its commands and status decoding differ per camera and today exist
 for the Tiny 2 Lite only; the plan is one module per model behind the same commands, once a
 camera is at hand to capture and test (see [CONTRIBUTING.md](CONTRIBUTING.md)).
diff --git a/crates/obsbot-device/Cargo.toml b/crates/obsbot-device/Cargo.toml
new file mode 100644
index 0000000..747c50b
--- /dev/null
+++ b/crates/obsbot-device/Cargo.toml
@@ -0,0 +1,21 @@
+[package]
+name = "obsbot-device"
+description = "Camera access for obsbot4linux: transport, frame codec and the camera models"
+version.workspace = true
+edition.workspace = true
+rust-version.workspace = true
+authors.workspace = true
+license.workspace = true
+repository.workspace = true
+homepage.workspace = true
+publish.workspace = true
+
+[dependencies]
+clap.workspace = true
+nix.workspace = true
+serde.workspace = true
+serde_json.workspace = true
+thiserror.workspace = true
+
+[dev-dependencies]
+hex.workspace = true
diff --git a/src/camera.rs b/crates/obsbot-device/src/camera.rs
similarity index 100%
rename from src/camera.rs
rename to crates/obsbot-device/src/camera.rs
diff --git a/crates/obsbot-device/src/enumeration.rs b/crates/obsbot-device/src/enumeration.rs
new file mode 100644
index 0000000..2271f0b
--- /dev/null
+++ b/crates/obsbot-device/src/enumeration.rs
@@ -0,0 +1,118 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+// Derived from Tiny4Linux (EUPL-1.2), used under EUPL-1.2 Article 5.
+
+//! Finding a supported camera without talking to it: `/dev/v4l/by-id` links first, the V4L2
+//! card name as fallback.
+
+use crate::registry::{self, Model};
+use nix::ioctl_read;
+use std::fs::{self, File};
+use std::os::fd::AsRawFd;
+use std::path::PathBuf;
+
+const V4L2_CAP_META_CAPTURE: u32 = 0x0080_0000;
+
+#[repr(C)]
+#[derive(Default)]
+struct V4l2Capability {
+    driver: [u8; 16],
+    card: [u8; 32],
+    bus_info: [u8; 32],
+    version: u32,
+    capabilities: u32,
+    device_caps: u32,
+    reserved: [u32; 3],
+}
+
+ioctl_read!(vidioc_querycap, b'V', 0, V4l2Capability);
+
+/// A camera found by enumeration, before any command is sent to it.
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct Detected {
+    pub model: &'static Model,
+    /// The V4L2 node to stream from: the stable `/dev/v4l/by-id/...-video-index0` link when
+    /// there is one, else `/dev/videoN`.
+    pub device: PathBuf,
+}
+
+fn card_name(file: &File) -> Option<(String, u32)> {
+    let mut cap = V4l2Capability::default();
+    unsafe { vidioc_querycap(file.as_raw_fd(), &mut cap) }.ok()?;
+    let end = cap
+        .card
+        .iter()
+        .position(|b| *b == 0)
+        .unwrap_or(cap.card.len());
+    Some((
+        String::from_utf8_lossy(&cap.card[..end]).into_owned(),
+        cap.device_caps,
+    ))
+}
+
+/// Finds a supported camera without talking to it: by-id symlink first, V4L2 card name
+/// (VIDIOC_QUERYCAP, a read-only ioctl) as fallback.
+pub fn detect() -> Option<Detected> {
+    let by_id = fs::read_dir("/dev/v4l/by-id")
+        .into_iter()
+        .flatten()
+        .flatten()
+        .map(|e| e.path())
+        .collect();
+    if let Some(detected) = first_by_id(by_id) {
+        return Some(detected);
+    }
+
+    let mut paths: Vec<PathBuf> = fs::read_dir("/dev")
+        .ok()?
+        .flatten()
+        .map(|e| e.path())
+        .filter(|p| {
+            p.file_name()
+                .is_some_and(|n| n.to_string_lossy().starts_with("video"))
+        })
+        .collect();
+    paths.sort();
+    for path in paths {
+        if let Ok(file) = File::open(&path)
+            && let Some((card, caps)) = card_name(&file)
+            && caps & V4L2_CAP_META_CAPTURE == 0
+            && let Some(model) = registry::from_card(&card)
+        {
+            return Some(Detected {
+                model,
+                device: path,
+            });
+        }
+    }
+    None
+}
+
+/// The first supported camera among the by-id links, sorted: `read_dir` order is unspecified,
+/// so with two cameras the controlled one could change between runs.
+fn first_by_id(mut links: Vec<PathBuf>) -> Option<Detected> {
+    links.sort();
+    links.into_iter().find_map(|device| {
+        let model = registry::from_by_id(&device.file_name()?.to_string_lossy())?;
+        Some(Detected { model, device })
+    })
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn by_id_detection_does_not_depend_on_directory_order() {
+        let link = |serial: &str| {
+            PathBuf::from(format!(
+                "/dev/v4l/by-id/usb-Remo_Tech_Co.__Ltd._OBSBOT_Tiny_2_Lite_{serial}-video-index0"
+            ))
+        };
+        let other = PathBuf::from("/dev/v4l/by-id/usb-Logitech_BRIO-video-index0");
+        let picked = first_by_id(vec![other.clone(), link("B"), link("A")]).unwrap();
+        assert_eq!(picked.device, link("A"));
+        let picked = first_by_id(vec![link("A"), link("B"), other]).unwrap();
+        assert_eq!(picked.device, link("A"));
+        assert_eq!(first_by_id(Vec::new()), None);
+    }
+}
diff --git a/src/error.rs b/crates/obsbot-device/src/error.rs
similarity index 100%
rename from src/error.rs
rename to crates/obsbot-device/src/error.rs
diff --git a/src/frame.rs b/crates/obsbot-device/src/family/frame.rs
similarity index 100%
rename from src/frame.rs
rename to crates/obsbot-device/src/family/frame.rs
diff --git a/crates/obsbot-device/src/family/mod.rs b/crates/obsbot-device/src/family/mod.rs
new file mode 100644
index 0000000..b025515
--- /dev/null
+++ b/crates/obsbot-device/src/family/mod.rs
@@ -0,0 +1,6 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! Building blocks that are not tied to one camera model: the frame codec and the on-air probe.
+
+pub mod frame;
+pub mod streaming;
diff --git a/src/streaming.rs b/crates/obsbot-device/src/family/streaming.rs
similarity index 100%
rename from src/streaming.rs
rename to crates/obsbot-device/src/family/streaming.rs
diff --git a/crates/obsbot-device/src/lib.rs b/crates/obsbot-device/src/lib.rs
new file mode 100644
index 0000000..a28deb9
--- /dev/null
+++ b/crates/obsbot-device/src/lib.rs
@@ -0,0 +1,22 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! Control library for the OBSBOT Tiny 2 Lite.
+
+pub mod camera;
+pub mod error;
+pub mod state;
+
+pub mod family;
+pub use family::{frame, streaming};
+
+pub mod enumeration;
+pub mod registry;
+pub mod transport;
+/// The 0.13 path of the device module, until Task 7 of the groundwork plan removes it.
+pub mod device {
+    pub use crate::enumeration::{Detected, detect};
+    pub use crate::transport::uvc::{CtrlRange, Device};
+}
+
+pub mod models;
+pub use models::tiny2lite::{commands, presets, status};
diff --git a/crates/obsbot-device/src/models/mod.rs b/crates/obsbot-device/src/models/mod.rs
new file mode 100644
index 0000000..af6caea
--- /dev/null
+++ b/crates/obsbot-device/src/models/mod.rs
@@ -0,0 +1,5 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! The camera models, one module each.
+
+pub mod tiny2lite;
diff --git a/src/commands.rs b/crates/obsbot-device/src/models/tiny2lite/commands.rs
similarity index 100%
rename from src/commands.rs
rename to crates/obsbot-device/src/models/tiny2lite/commands.rs
diff --git a/crates/obsbot-device/src/models/tiny2lite/mod.rs b/crates/obsbot-device/src/models/tiny2lite/mod.rs
new file mode 100644
index 0000000..fcf999b
--- /dev/null
+++ b/crates/obsbot-device/src/models/tiny2lite/mod.rs
@@ -0,0 +1,7 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! The OBSBOT Tiny 2 Lite (USB 3564:fef9).
+
+pub mod commands;
+pub mod presets;
+pub mod status;
diff --git a/src/presets.rs b/crates/obsbot-device/src/models/tiny2lite/presets.rs
similarity index 100%
rename from src/presets.rs
rename to crates/obsbot-device/src/models/tiny2lite/presets.rs
diff --git a/src/status.rs b/crates/obsbot-device/src/models/tiny2lite/status.rs
similarity index 100%
rename from src/status.rs
rename to crates/obsbot-device/src/models/tiny2lite/status.rs
diff --git a/src/models.rs b/crates/obsbot-device/src/registry.rs
similarity index 100%
rename from src/models.rs
rename to crates/obsbot-device/src/registry.rs
diff --git a/src/state.rs b/crates/obsbot-device/src/state.rs
similarity index 100%
rename from src/state.rs
rename to crates/obsbot-device/src/state.rs
diff --git a/crates/obsbot-device/src/transport/mod.rs b/crates/obsbot-device/src/transport/mod.rs
new file mode 100644
index 0000000..c013ef5
--- /dev/null
+++ b/crates/obsbot-device/src/transport/mod.rs
@@ -0,0 +1,5 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! Access to the camera's USB device: extension-unit queries and V4L2 controls.
+
+pub mod uvc;
diff --git a/src/device.rs b/crates/obsbot-device/src/transport/uvc.rs
similarity index 68%
rename from src/device.rs
rename to crates/obsbot-device/src/transport/uvc.rs
index 6f427d0..2384621 100644
--- a/src/device.rs
+++ b/crates/obsbot-device/src/transport/uvc.rs
@@ -9,14 +9,13 @@
 //! calls) take turns: the vendor unit has one answer buffer, and answers are matched by sequence
 //! number only. flock is advisory; streaming applications do not take it and are not held up.
 
+use crate::enumeration::{Detected, detect};
 use crate::error::{Error, Result};
-use crate::models::{self, Model};
 use nix::errno::Errno;
 use nix::fcntl::{Flock, FlockArg};
-use nix::{ioctl_read, ioctl_readwrite};
-use std::fs::{self, File};
+use nix::ioctl_readwrite;
+use std::fs::File;
 use std::os::fd::AsRawFd;
-use std::path::PathBuf;
 use std::time::{Duration, Instant};
 
 /// How long `Device::open` waits for another obsbot4linux process to release the camera.
@@ -29,7 +28,6 @@ const UVC_GET_LEN: u8 = 0x85;
 /// Size of every vendor buffer on unit 2.
 pub const XU_SIZE: usize = 60;
 
-const V4L2_CAP_META_CAPTURE: u32 = 0x0080_0000;
 const V4L2_CTRL_FLAG_DISABLED: u32 = 0x0001;
 
 #[repr(C)]
@@ -41,18 +39,6 @@ struct UvcXuControlQuery {
     data: *mut u8,
 }
 
-#[repr(C)]
-#[derive(Default)]
-struct V4l2Capability {
-    driver: [u8; 16],
-    card: [u8; 32],
-    bus_info: [u8; 32],
-    version: u32,
-    capabilities: u32,
-    device_caps: u32,
-    reserved: [u32; 3],
-}
-
 #[repr(C)]
 #[derive(Default)]
 struct V4l2Control {
@@ -75,7 +61,6 @@ struct V4l2QueryCtrl {
 }
 
 ioctl_readwrite!(uvcioc_ctrl_query, b'u', 0x21, UvcXuControlQuery);
-ioctl_read!(vidioc_querycap, b'V', 0, V4l2Capability);
 ioctl_readwrite!(vidioc_g_ctrl, b'V', 27, V4l2Control);
 ioctl_readwrite!(vidioc_s_ctrl, b'V', 28, V4l2Control);
 ioctl_readwrite!(vidioc_queryctrl, b'V', 36, V4l2QueryCtrl);
@@ -89,15 +74,6 @@ pub struct CtrlRange {
     pub default: i32,
 }
 
-/// A camera found by enumeration, before any command is sent to it.
-#[derive(Debug, Clone, PartialEq, Eq)]
-pub struct Detected {
-    pub model: &'static Model,
-    /// The V4L2 node to stream from: the stable `/dev/v4l/by-id/...-video-index0` link when
-    /// there is one, else `/dev/videoN`.
-    pub device: PathBuf,
-}
-
 pub struct Device {
     file: Flock<File>,
     detected: Detected,
@@ -119,68 +95,6 @@ fn lock_exclusive(mut file: File, wait: Duration) -> Result<Flock<File>> {
     }
 }
 
-fn card_name(file: &File) -> Option<(String, u32)> {
-    let mut cap = V4l2Capability::default();
-    unsafe { vidioc_querycap(file.as_raw_fd(), &mut cap) }.ok()?;
-    let end = cap
-        .card
-        .iter()
-        .position(|b| *b == 0)
-        .unwrap_or(cap.card.len());
-    Some((
-        String::from_utf8_lossy(&cap.card[..end]).into_owned(),
-        cap.device_caps,
-    ))
-}
-
-/// Finds a supported camera without talking to it: by-id symlink first, V4L2 card name
-/// (VIDIOC_QUERYCAP, a read-only ioctl) as fallback.
-pub fn detect() -> Option<Detected> {
-    let by_id = fs::read_dir("/dev/v4l/by-id")
-        .into_iter()
-        .flatten()
-        .flatten()
-        .map(|e| e.path())
-        .collect();
-    if let Some(detected) = first_by_id(by_id) {
-        return Some(detected);
-    }
-
-    let mut paths: Vec<PathBuf> = fs::read_dir("/dev")
-        .ok()?
-        .flatten()
-        .map(|e| e.path())
-        .filter(|p| {
-            p.file_name()
-                .is_some_and(|n| n.to_string_lossy().starts_with("video"))
-        })
-        .collect();
-    paths.sort();
-    for path in paths {
-        if let Ok(file) = File::open(&path)
-            && let Some((card, caps)) = card_name(&file)
-            && caps & V4L2_CAP_META_CAPTURE == 0
-            && let Some(model) = models::from_card(&card)
-        {
-            return Some(Detected {
-                model,
-                device: path,
-            });
-        }
-    }
-    None
-}
-
-/// The first supported camera among the by-id links, sorted: `read_dir` order is unspecified,
-/// so with two cameras the controlled one could change between runs.
-fn first_by_id(mut links: Vec<PathBuf>) -> Option<Detected> {
-    links.sort();
-    links.into_iter().find_map(|device| {
-        let model = models::from_by_id(&device.file_name()?.to_string_lossy())?;
-        Some(Detected { model, device })
-    })
-}
-
 /// The kernel fails GET_CUR and SET_CUR with ENOBUFS unless the buffer is exactly the
 /// selector's length, and both always pass [`XU_SIZE`] bytes.
 fn check_len(selector: u8, len: usize) -> Result<()> {
@@ -276,6 +190,7 @@ impl Device {
 #[cfg(test)]
 mod tests {
     use super::*;
+    use std::fs;
 
     #[test]
     fn a_second_handle_waits_for_the_first() {
@@ -308,19 +223,4 @@ mod tests {
         assert!(matches!(check_len(2, 32), Err(Error::Unsupported(_))));
         assert!(matches!(check_len(2, 64), Err(Error::Unsupported(_))));
     }
-
-    #[test]
-    fn by_id_detection_does_not_depend_on_directory_order() {
-        let link = |serial: &str| {
-            PathBuf::from(format!(
-                "/dev/v4l/by-id/usb-Remo_Tech_Co.__Ltd._OBSBOT_Tiny_2_Lite_{serial}-video-index0"
-            ))
-        };
-        let other = PathBuf::from("/dev/v4l/by-id/usb-Logitech_BRIO-video-index0");
-        let picked = first_by_id(vec![other.clone(), link("B"), link("A")]).unwrap();
-        assert_eq!(picked.device, link("A"));
-        let picked = first_by_id(vec![link("A"), link("B"), other]).unwrap();
-        assert_eq!(picked.device, link("A"));
-        assert_eq!(first_by_id(Vec::new()), None);
-    }
 }
diff --git a/crates/obsbot-device/tests/byte_guard.rs b/crates/obsbot-device/tests/byte_guard.rs
new file mode 100644
index 0000000..3eb07c1
--- /dev/null
+++ b/crates/obsbot-device/tests/byte_guard.rs
@@ -0,0 +1,576 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! Byte guard of the groundwork stage (rebuild plan, stage G): every frame and short command the
+//! builders emit for a fixed list of calls, one line per call, compared with
+//! `tests/fixtures/byte-guard.txt`. That file was written from the 0.13 code before the
+//! workspace move, so a move that changes one byte that would go to the camera fails here.
+//!
+//! `BYTE_GUARD_BLESS=1 cargo test --test byte_guard` writes the file: once when this test is
+//! added, and on `main` in a change that alters what a builder sends on purpose (that change
+//! lists the changed lines). A move never writes it; every other run compares.
+
+use clap::ValueEnum;
+use obsbot_device::commands::{self as cmd, *};
+use obsbot_device::frame::{self, FRAME_SIZE};
+use obsbot_device::presets::{self, Pose, StartupAi};
+use std::fmt::Display;
+
+const FIXTURE: &str = concat!(env!("CARGO_MANIFEST_DIR"), "/tests/fixtures/byte-guard.txt");
+const SEQ: u16 = 0x1234;
+const SEQS: [u16; 4] = [SEQ, SEQ + 1, SEQ + 2, SEQ + 3];
+
+/// How one builder result is written into the fixture.
+trait Show {
+    fn show(&self) -> String;
+}
+
+impl<const N: usize> Show for [u8; N] {
+    fn show(&self) -> String {
+        hex::encode(self)
+    }
+}
+
+impl<const N: usize, const M: usize> Show for [[u8; N]; M] {
+    fn show(&self) -> String {
+        self.iter().map(hex::encode).collect::<Vec<_>>().join(" ")
+    }
+}
+
+impl Show for u8 {
+    fn show(&self) -> String {
+        self.to_string()
+    }
+}
+
+impl Show for u16 {
+    fn show(&self) -> String {
+        format!("{self:#06x}")
+    }
+}
+
+impl Show for bool {
+    fn show(&self) -> String {
+        self.to_string()
+    }
+}
+
+impl<T: Show> Show for Option<T> {
+    fn show(&self) -> String {
+        self.as_ref().map_or("none".into(), Show::show)
+    }
+}
+
+impl<T: Show, E: Display> Show for Result<T, E> {
+    fn show(&self) -> String {
+        match self {
+            Ok(v) => v.show(),
+            Err(e) => format!("error: {e}"),
+        }
+    }
+}
+
+fn rec(out: &mut Vec<String>, label: String, value: impl Show) {
+    out.push(format!("{label} = {}", value.show()));
+}
+
+/// Poses at and beyond every bound the pose builders check, and an asymmetric one.
+const POSES: [(f32, f32, f32); 10] = [
+    (10.5, -5.25, 2.0),
+    (0.0, 0.0, 1.0),
+    (-150.0, -70.0, 1.0),
+    (150.0, 90.0, 4.0),
+    (150.1, 0.0, 1.0),
+    (0.0, 90.5, 1.0),
+    (0.0, -70.5, 1.0),
+    (0.0, 0.0, 4.01),
+    (0.0, 0.0, 0.99),
+    (f32::NAN, 0.0, 1.0),
+];
+
+fn poses() -> impl Iterator<Item = Pose> {
+    POSES
+        .into_iter()
+        .map(|(pan, tilt, zoom)| Pose { pan, tilt, zoom })
+}
+
+/// Area ranges (min, max) in the camera's angles, at and beyond the bounds, and wrong ways round.
+const RANGES: [(f32, f32); 11] = [
+    (-45.0, 45.0),
+    (-150.0, 150.0),
+    (-150.5, 0.0),
+    (0.0, 150.5),
+    (-90.0, 70.0),
+    (-90.5, 0.0),
+    (0.0, 70.5),
+    (-30.0, 10.0),
+    (10.0, 10.0),
+    (10.0, -10.0),
+    (f32::NAN, 1.0),
+];
+
+type Short3 = fn(bool) -> [u8; 3];
+type Framed = fn(bool, u16) -> [u8; FRAME_SIZE];
+type SeqOnly = fn(u16) -> [u8; FRAME_SIZE];
+
+fn record() -> Vec<String> {
+    let mut out = Vec::new();
+    let o = &mut out;
+
+    // frame codec
+    for seq in [0x0000, 0x0001, SEQ, 0xffff] {
+        let q = frame::query_frame(0x04, 0x0104, seq);
+        rec(
+            o,
+            format!("frame::query_frame(0x04, 0x0104, {seq:#06x})"),
+            q,
+        );
+        let f = frame::frame(0x02, 0xa0c2, &[1, 0, 0, 0], seq);
+        rec(
+            o,
+            format!("frame::frame(0x02, 0xa0c2, [1 0 0 0], {seq:#06x})"),
+            f,
+        );
+        let w = frame::query_frame_with(0x04, 0x1504, &[7, 0, 0, 0], seq);
+        rec(
+            o,
+            format!("frame::query_frame_with(0x04, 0x1504, [7 0 0 0], {seq:#06x})"),
+            w,
+        );
+    }
+    let full = frame::frame(0x04, 0x3e44, &[0xa5; frame::MAX_DATA], SEQ);
+    rec(
+        o,
+        "frame::frame(0x04, 0x3e44, [0xa5; MAX_DATA])".into(),
+        full,
+    );
+    rec(
+        o,
+        "frame::crc16_usb(\"123456789\")".into(),
+        frame::crc16_usb(b"123456789"),
+    );
+
+    // short commands (selector 6)
+    let short3: [(&str, Short3); 6] = [
+        ("hdr", cmd::hdr),
+        ("led_blink", cmd::led_blink),
+        ("mirror", cmd::mirror),
+        ("mic_in_sleep", cmd::mic_in_sleep),
+        ("auto_gain", cmd::auto_gain),
+        ("microphone", cmd::microphone),
+    ];
+    for (name, f) in short3 {
+        for on in [false, true] {
+            rec(o, format!("cmd::{name}({on})"), f(on));
+        }
+    }
+    for on in [false, true] {
+        rec(
+            o,
+            format!("cmd::sleep_background_mirror({on})"),
+            cmd::sleep_background_mirror(on),
+        );
+    }
+    for m in AiMode::value_variants() {
+        rec(o, format!("cmd::ai_mode({m:?})"), cmd::ai_mode(*m));
+        rec(
+            o,
+            format!("cmd::default_work_mode({m:?})"),
+            cmd::default_work_mode(*m),
+        );
+    }
+    for s in [i16::MIN, -600, -1, 0, 1, 600, i16::MAX] {
+        rec(o, format!("cmd::auto_sleep({s})"), cmd::auto_sleep(s));
+    }
+    for s in [0u16, 1, 600, 32767, 32768, u16::MAX] {
+        rec(
+            o,
+            format!("cmd::auto_sleep_off({s})"),
+            cmd::auto_sleep_off(s),
+        );
+    }
+    for b in SleepBackground::value_variants() {
+        rec(
+            o,
+            format!("cmd::sleep_background({b:?})"),
+            cmd::sleep_background(*b),
+        );
+    }
+    for b in 0..=4u8 {
+        rec(o, format!("cmd::led({b})"), cmd::led(b));
+    }
+    for p in [0u8, 1, 50, 100, 101, 255] {
+        rec(o, format!("cmd::wake_zoom({p})"), cmd::wake_zoom(p));
+    }
+    for f in [0.99f32, 1.0, 1.5, 2.5, 4.0, 4.01, f32::NAN] {
+        rec(
+            o,
+            format!("cmd::wake_zoom_percent({f})"),
+            cmd::wake_zoom_percent(f),
+        );
+    }
+    for v in FieldOfView::value_variants() {
+        rec(
+            o,
+            format!("cmd::field_of_view({v:?})"),
+            cmd::field_of_view(*v),
+        );
+    }
+    for v in NoiseReduction::value_variants() {
+        rec(
+            o,
+            format!("cmd::noise_reduction({v:?})"),
+            cmd::noise_reduction(*v),
+        );
+    }
+    for v in PickupDistance::value_variants() {
+        rec(
+            o,
+            format!("cmd::pickup_distance({v:?})"),
+            cmd::pickup_distance(*v),
+        );
+    }
+    for v in ExposureMode::value_variants() {
+        rec(
+            o,
+            format!("cmd::exposure_mode_select({v:?})"),
+            cmd::exposure_mode_select(*v),
+        );
+    }
+    rec(o, "cmd::startup_go()".into(), cmd::startup_go());
+
+    // framed commands (selector 2)
+    let framed: [(&str, Framed); 9] = [
+        ("invert", cmd::invert),
+        ("zone_tracking", cmd::zone_tracking),
+        ("hand_pan", cmd::hand_pan),
+        ("hand_tilt", cmd::hand_tilt),
+        ("hand_gimbal", cmd::hand_gimbal),
+        ("autofocus_mode", cmd::autofocus_mode),
+        ("zone_follow", cmd::zone_follow),
+        ("sleep", cmd::sleep),
+        ("auto_zoom", cmd::auto_zoom),
+    ];
+    for (name, f) in framed {
+        for on in [false, true] {
+            rec(o, format!("cmd::{name}({on})"), f(on, SEQ));
+        }
+    }
+    let seq_only: [(&str, SeqOnly); 6] = [
+        ("zone_return_go", cmd::zone_return_go),
+        ("hand_return_go", cmd::hand_return_go),
+        ("hand_return_reset", cmd::hand_return_reset),
+        ("factory_reset", cmd::factory_reset),
+        ("gimbal_stop", cmd::gimbal_stop),
+        ("zoom_stop", cmd::zoom_stop),
+    ];
+    for (name, f) in seq_only {
+        rec(o, format!("cmd::{name}()"), f(SEQ));
+    }
+    for v in TrackingSpeed::value_variants() {
+        rec(
+            o,
+            format!("cmd::tracking_speed({v:?})"),
+            cmd::tracking_speed(*v, SEQ),
+        );
+    }
+    for v in SpeedMode::value_variants() {
+        rec(
+            o,
+            format!("cmd::speed_mode({v:?})"),
+            cmd::speed_mode(*v, SEQ),
+        );
+    }
+    for v in FramingSize::value_variants() {
+        rec(
+            o,
+            format!("cmd::framing_size({v:?})"),
+            cmd::framing_size(*v, SEQ),
+        );
+    }
+    for v in AutoZoomSpeed::value_variants() {
+        rec(
+            o,
+            format!("cmd::auto_zoom_speed({v:?})"),
+            cmd::auto_zoom_speed(*v, SEQ),
+        );
+    }
+    for v in PartMode::value_variants() {
+        rec(o, format!("cmd::part_mode({v:?})"), cmd::part_mode(*v, SEQ));
+    }
+    for v in HandSide::value_variants() {
+        rec(o, format!("cmd::hand_side({v:?})"), cmd::hand_side(*v, SEQ));
+    }
+    for v in AutofocusMode::value_variants() {
+        rec(
+            o,
+            format!("cmd::autofocus_mode_select({v:?})"),
+            cmd::autofocus_mode_select(*v, SEQ),
+        );
+    }
+    for g in Gesture::value_variants() {
+        for on in [false, true] {
+            rec(
+                o,
+                format!("cmd::gesture({g:?}, {on})"),
+                cmd::gesture(*g, on, SEQ),
+            );
+        }
+    }
+    for r in [0.99f32, 1.0, 2.5, 4.0, 4.01, f32::NAN] {
+        rec(
+            o,
+            format!("cmd::gesture_zoom_ratio({r})"),
+            cmd::gesture_zoom_ratio(r, SEQ),
+        );
+    }
+    for s in [-1.0f32, -0.0, 0.0, 2.5, 600.0, f32::INFINITY, f32::NAN] {
+        rec(
+            o,
+            format!("cmd::hand_return_after({s})"),
+            cmd::hand_return_after(s, SEQ),
+        );
+    }
+    for v in [0u8, 1, 50, 100, 101, 255] {
+        rec(
+            o,
+            format!("cmd::audio_volume({v})"),
+            cmd::audio_volume(v, SEQ),
+        );
+    }
+    for x in [-0.01f32, 0.0, 0.25, 1.0, 1.01] {
+        for y in [-0.01f32, 0.0, 0.75, 1.0, 1.01] {
+            rec(
+                o,
+                format!("cmd::focus_point({x}, {y})"),
+                cmd::focus_point(x, y, SEQ),
+            );
+            rec(
+                o,
+                format!("cmd::view_center({x}, {y})"),
+                cmd::view_center(x, y, SEQ),
+            );
+        }
+    }
+    for r in RANGES {
+        for (yaw, pitch) in [(r, (-30.0, 10.0)), ((-45.0, 45.0), r)] {
+            rec(
+                o,
+                format!("cmd::zone_area({yaw:?}, {pitch:?})"),
+                cmd::zone_area(yaw, pitch, SEQS),
+            );
+            rec(
+                o,
+                format!("cmd::hand_area({yaw:?}, {pitch:?})"),
+                cmd::hand_area(yaw, pitch, SEQS),
+            );
+        }
+    }
+    rec(
+        o,
+        "cmd::hand_area_reset()".into(),
+        cmd::hand_area_reset(SEQS),
+    );
+    let axes = [
+        None,
+        Some(-150.0f32),
+        Some(-70.0),
+        Some(0.0),
+        Some(12.5),
+        Some(90.0),
+        Some(150.0),
+        Some(150.5),
+        Some(-90.5),
+    ];
+    for yaw in axes {
+        for pitch in axes {
+            rec(
+                o,
+                format!("cmd::gimbal_pose({yaw:?}, {pitch:?})"),
+                cmd::gimbal_pose(yaw, pitch, SEQ),
+            );
+        }
+    }
+    for (yaw, pitch) in [
+        (None, None),
+        (Some(12.5f32), None),
+        (None, Some(-5.0f32)),
+        (Some(12.5), Some(-5.0)),
+        (Some(150.5), Some(0.0)),
+    ] {
+        for speed in [0.99f32, 1.0, 45.0, 180.0, 180.5, f32::NAN] {
+            let f = cmd::gimbal_pose_speed(yaw, pitch, speed, SEQ);
+            rec(
+                o,
+                format!("cmd::gimbal_pose_speed({yaw:?}, {pitch:?}, {speed})"),
+                f,
+            );
+        }
+    }
+    for pan in [-178.5f32, -178.0, -0.0, 0.0, 12.5, 178.0, 178.5, f32::NAN] {
+        for tilt in [-178.5f32, -178.0, -0.0, 0.0, 5.0, 178.0, 178.5] {
+            let f = cmd::gimbal_rate(pan, tilt, false, false, SEQ);
+            rec(
+                o,
+                format!("cmd::gimbal_rate({pan}, {tilt}, false, false)"),
+                f,
+            );
+        }
+    }
+    for (mirror, invert) in [(true, false), (false, true), (true, true)] {
+        let f = cmd::gimbal_rate(12.5, 5.0, mirror, invert, SEQ);
+        rec(
+            o,
+            format!("cmd::gimbal_rate(12.5, 5, {mirror}, {invert})"),
+            f,
+        );
+    }
+    for speed in [0i32, 1, 10, 30, 50, i32::MAX] {
+        for ratio in [0.99f32, 1.0, 2.5, 4.0, 4.01] {
+            rec(
+                o,
+                format!("cmd::zoom_to({speed}, {ratio})"),
+                cmd::zoom_to(speed, ratio, SEQ),
+            );
+        }
+    }
+    for vertical in [false, true] {
+        for f in [-0.17f32, -0.16, -0.0, 0.0, 0.1, 0.16, 0.17, f32::NAN] {
+            let b = cmd::framing_offset(vertical, f, SEQ);
+            rec(o, format!("cmd::framing_offset({vertical}, {f})"), b);
+        }
+    }
+    for pan in [-150.5f32, -150.0, 0.0, 150.0, 150.5] {
+        for tilt in [-70.5f32, -70.0, 0.0, 90.0, 90.5] {
+            rec(
+                o,
+                format!("cmd::gimbal_angles_ok({pan}, {tilt})"),
+                cmd::gimbal_angles_ok(pan, tilt),
+            );
+        }
+    }
+
+    // presets, zone views, start pose and return positions
+    let names = [
+        "",
+        "Desk",
+        "Bereich1",
+        "äöü",
+        "12345678901234567890123456789012",
+        "123456789012345678901234567890123",
+    ];
+    for slot in [0u8, 1, 2, 3, 255] {
+        for p in poses() {
+            rec(
+                o,
+                format!("presets::create({slot}, {p:?})"),
+                presets::create(slot, p, SEQ),
+            );
+            rec(
+                o,
+                format!("presets::update({slot}, {p:?})"),
+                presets::update(slot, p, SEQ),
+            );
+        }
+        for name in names {
+            rec(
+                o,
+                format!("presets::rename({slot}, {name:?})"),
+                presets::rename(slot, name, SEQ),
+            );
+        }
+        rec(
+            o,
+            format!("presets::delete({slot})"),
+            presets::delete(slot, SEQ, SEQ + 1),
+        );
+        rec(
+            o,
+            format!("presets::recall({slot})"),
+            presets::recall(slot, SEQ),
+        );
+    }
+    for id in [0u32, 1, 7, 255, u32::MAX] {
+        for p in poses() {
+            rec(
+                o,
+                format!("presets::view_add({id}, {p:?})"),
+                presets::view_add(id, p, SEQ),
+            );
+        }
+        for name in names {
+            rec(
+                o,
+                format!("presets::view_rename({id}, {name:?})"),
+                presets::view_rename(id, name, SEQ),
+            );
+        }
+        rec(
+            o,
+            format!("presets::view_remove({id})"),
+            presets::view_remove(id, SEQ),
+        );
+        rec(
+            o,
+            format!("presets::view_go({id})"),
+            presets::view_go(id, SEQ),
+        );
+        for command in [0x1504u16, 0x1444] {
+            let q = presets::view_query(command, id, SEQ);
+            rec(o, format!("presets::view_query({command:#06x}, {id})"), q);
+        }
+    }
+    for source in [0u32, 1, 2, 3, 4] {
+        for p in poses() {
+            let f = presets::startup_pose(source, p, SEQ);
+            rec(o, format!("presets::startup_pose({source}, {p:?})"), f);
+        }
+    }
+    for p in poses() {
+        rec(
+            o,
+            format!("presets::zone_return_set({p:?})"),
+            presets::zone_return_set(p, SEQ),
+        );
+        rec(
+            o,
+            format!("presets::hand_return_set({p:?})"),
+            presets::hand_return_set(p, SEQ),
+        );
+    }
+    for ai in StartupAi::value_variants() {
+        let f = presets::startup_picture_settings(ai.byte(), SEQ);
+        rec(o, format!("presets::startup_picture_settings({ai:?})"), f);
+    }
+    let block: Vec<u8> = (0u8..48).collect();
+    for len in [0usize, 39, 40, 48] {
+        for ai in [0x00u8, 0xfe, 0xff] {
+            let f = presets::startup_with_ai(&block[..len], ai, SEQ);
+            rec(
+                o,
+                format!("presets::startup_with_ai(0..{len}, {ai:#04x})"),
+                f,
+            );
+        }
+    }
+    out
+}
+
+#[test]
+fn builders_emit_the_recorded_bytes() {
+    let now = record().join("\n") + "\n";
+    if std::env::var_os("BYTE_GUARD_BLESS").is_some() {
+        std::fs::write(FIXTURE, &now).unwrap();
+        return;
+    }
+    let recorded = std::fs::read_to_string(FIXTURE).expect("tests/fixtures/byte-guard.txt");
+    let (now, recorded): (Vec<&str>, Vec<&str>) =
+        (now.lines().collect(), recorded.lines().collect());
+    assert_eq!(
+        now.len(),
+        recorded.len(),
+        "the number of recorded calls changed"
+    );
+    for (n, r) in now.iter().zip(&recorded) {
+        assert_eq!(n, r, "a builder emits other bytes than before the move");
+    }
+}
diff --git a/crates/obsbot-device/tests/fixtures/byte-guard.txt b/crates/obsbot-device/tests/fixtures/byte-guard.txt
new file mode 100644
index 0000000..eb511c1
--- /dev/null
+++ b/crates/obsbot-device/tests/fixtures/byte-guard.txt
@@ -0,0 +1,831 @@
+frame::query_frame(0x04, 0x0104, 0x0000) = aa0100000c0085940a040401000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::frame(0x02, 0xa0c2, [1 0 0 0], 0x0000) = aa2500000c00497d0a02c2a00400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame_with(0x04, 0x1504, [7 0 0 0], 0x0000) = aa2100000c002e5b0a0404150400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame(0x04, 0x0104, 0x0001) = aa0101000c00d4510a040401000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::frame(0x02, 0xa0c2, [1 0 0 0], 0x0001) = aa2501000c0018b80a02c2a00400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame_with(0x04, 0x1504, [7 0 0 0], 0x0001) = aa2101000c007f9e0a0404150400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame(0x04, 0x0104, 0x1234) = aa0134120c00101e0a040401000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::frame(0x02, 0xa0c2, [1 0 0 0], 0x1234) = aa2534120c00dcf70a02c2a00400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame_with(0x04, 0x1504, [7 0 0 0], 0x1234) = aa2134120c00bbd10a0404150400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame(0x04, 0x0104, 0xffff) = aa01ffff0c00f5930a040401000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::frame(0x02, 0xa0c2, [1 0 0 0], 0xffff) = aa25ffff0c00397a0a02c2a00400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::query_frame_with(0x04, 0x1504, [7 0 0 0], 0xffff) = aa21ffff0c005e5c0a0404150400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+frame::frame(0x04, 0x3e44, [0xa5; MAX_DATA]) = aa2534120c00df3e0a04443e2c000901a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5a5
+frame::crc16_usb("123456789") = 0xb4c8
+cmd::hdr(false) = 010100
+cmd::hdr(true) = 010101
+cmd::led_blink(false) = 180100
+cmd::led_blink(true) = 180101
+cmd::mirror(false) = 140100
+cmd::mirror(true) = 140101
+cmd::mic_in_sleep(false) = 130100
+cmd::mic_in_sleep(true) = 130101
+cmd::auto_gain(false) = 170100
+cmd::auto_gain(true) = 170101
+cmd::microphone(false) = 1c0100
+cmd::microphone(true) = 1c0101
+cmd::sleep_background_mirror(false) = 0e020200
+cmd::sleep_background_mirror(true) = 0e020201
+cmd::ai_mode(Static) = 16020000
+cmd::default_work_mode(Static) = 190100
+cmd::ai_mode(Normal) = 16020200
+cmd::default_work_mode(Normal) = 190120
+cmd::ai_mode(UpperBody) = 16020201
+cmd::default_work_mode(UpperBody) = 190121
+cmd::ai_mode(CloseUp) = 16020202
+cmd::default_work_mode(CloseUp) = 190122
+cmd::ai_mode(Headless) = 16020203
+cmd::default_work_mode(Headless) = 190123
+cmd::ai_mode(LowerBody) = 16020204
+cmd::default_work_mode(LowerBody) = 190124
+cmd::ai_mode(Hand) = 16020300
+cmd::default_work_mode(Hand) = 190130
+cmd::ai_mode(Group) = 16020100
+cmd::default_work_mode(Group) = 190110
+cmd::auto_sleep(-32768) = 0b020080
+cmd::auto_sleep(-600) = 0b02a8fd
+cmd::auto_sleep(-1) = 0b02ffff
+cmd::auto_sleep(0) = 0b020000
+cmd::auto_sleep(1) = 0b020100
+cmd::auto_sleep(600) = 0b025802
+cmd::auto_sleep(32767) = 0b02ff7f
+cmd::auto_sleep_off(0) = 0b02a8fd
+cmd::auto_sleep_off(1) = 0b02ffff
+cmd::auto_sleep_off(600) = 0b02a8fd
+cmd::auto_sleep_off(32767) = 0b020180
+cmd::auto_sleep_off(32768) = error: invalid value: auto-sleep time is at most 32767 s
+cmd::auto_sleep_off(65535) = error: invalid value: auto-sleep time is at most 32767 s
+cmd::sleep_background(Black) = 0e020000
+cmd::sleep_background(Image) = 0e020001
+cmd::led(0) = 1a0100
+cmd::led(1) = 1a0101
+cmd::led(2) = 1a0102
+cmd::led(3) = 1a0103
+cmd::led(4) = error: invalid value: LED brightness is 0-3
+cmd::wake_zoom(0) = 15026400
+cmd::wake_zoom(1) = 15026401
+cmd::wake_zoom(50) = 15026432
+cmd::wake_zoom(100) = 15026464
+cmd::wake_zoom(101) = error: invalid value: wake-up zoom is 0-100 percent
+cmd::wake_zoom(255) = error: invalid value: wake-up zoom is 0-100 percent
+cmd::wake_zoom_percent(0.99) = error: invalid value: wake-up zoom factor is 1.0-4.0
+cmd::wake_zoom_percent(1) = 0
+cmd::wake_zoom_percent(1.5) = 17
+cmd::wake_zoom_percent(2.5) = 50
+cmd::wake_zoom_percent(4) = 100
+cmd::wake_zoom_percent(4.01) = error: invalid value: wake-up zoom factor is 1.0-4.0
+cmd::wake_zoom_percent(NaN) = error: invalid value: wake-up zoom factor is 1.0-4.0
+cmd::field_of_view(Wide) = 040100
+cmd::field_of_view(Medium) = 040101
+cmd::field_of_view(Narrow) = 040102
+cmd::noise_reduction(Off) = 0a0100
+cmd::noise_reduction(Weak) = 0a0101
+cmd::noise_reduction(Medium) = 0a0102
+cmd::noise_reduction(Strong) = 0a0103
+cmd::pickup_distance(Near) = 1b0100
+cmd::pickup_distance(Standard) = 1b0101
+cmd::pickup_distance(Far) = 1b0102
+cmd::exposure_mode_select(Global) = 030100
+cmd::exposure_mode_select(Face) = 030101
+cmd::startup_go() = 000101
+cmd::invert(false) = aa2534120c004f3d0a04843b0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::invert(true) = aa2534120c004f3d0a04843b010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_tracking(false) = aa2534120c003ee80a04c4080100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_tracking(true) = aa2534120c003ee80a04c408010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_pan(false) = aa2534120c001f370a0444230100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_pan(true) = aa2534120c001f370a044423010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_tilt(false) = aa2534120c007ef70a04c4230100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_tilt(true) = aa2534120c007ef70a04c423010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_gimbal(false) = aa2534120c00bef40a04c4260100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_gimbal(true) = aa2534120c00bef40a04c426010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::autofocus_mode(false) = aa2534120c000c990a0202360400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::autofocus_mode(true) = aa2534120c000c990a0202360400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_follow(false) = aa2534120c00ef1a0a04044e0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_follow(true) = aa2534120c00ef1a0a04044e010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::sleep(false) = aa2534120c00dcf70a02c2a00400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::sleep(true) = aa2534120c00dcf70a02c2a00400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::auto_zoom(false) = aa2534120c00dee90a04440a0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::auto_zoom(true) = aa2534120c00dee90a04440a010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_return_go() = aa2534120c001f1a0a04444f0000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_go() = aa2534120c00cf350a0484250000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_reset() = aa2534120c009f350a0444250000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::factory_reset() = aa2534120c008d310a0202a8010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_stop() = aa2534120c002ec40a0404670000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_stop() = aa2534120c003ec00a04c4680000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::tracking_speed(Standard) = aa2534120c003f2b0a04c40c0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::tracking_speed(Headroom) = aa2534120c003f2b0a04c40c010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::tracking_speed(Sport) = aa2534120c003f2b0a04c40c010067fe0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(Lazy) = aa2534120c009ee80a0444090100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(Slow) = aa2534120c009ee80a044409010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(Normal) = aa2534120c009ee80a044409010067fe0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(Fast) = aa2534120c009ee80a0444090100a63e0300000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(VeryFast) = aa2534120c009ee80a0444090100e7fc0400000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::speed_mode(Auto) = aa2534120c009ee80a0444090100263c0500000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(LongShot) = aa2534120c00bf290a04c40a0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(MediumLongShot) = aa2534120c00bf290a04c40a010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(MediumShot) = aa2534120c00bf290a04c40a010067fe0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(MediumCloseUp) = aa2534120c00bf290a04c40a0100a63e0300000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(CloseUp) = aa2534120c00bf290a04c40a0100e7fc0400000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_size(BigCloseUp) = aa2534120c00bf290a04c40a0100263c0500000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::auto_zoom_speed(Slow) = aa2534120c001f290a04440b0100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::auto_zoom_speed(Medium) = aa2534120c001f290a04440b010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::auto_zoom_speed(Fast) = aa2534120c001f290a04440b010067fe0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::part_mode(Normal) = aa2534120c00cf210a0484150100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::part_mode(HeadRemoval) = aa2534120c00cf210a048415010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::part_mode(LowerBody) = aa2534120c00cf210a048415010067fe0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_side(Right) = aa2534120c00def70a0444220100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_side(Left) = aa2534120c00def70a044422010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::autofocus_mode_select(Continuous) = aa2534120c00bc980a0242340400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::autofocus_mode_select(Single) = aa2534120c00bc980a0242340400bfbf0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::autofocus_mode_select(Manual) = aa2534120c00bc980a0242340400be430300000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(TargetLock, false) = aa2534120c003f3a0a04c4300100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(TargetLock, true) = aa2534120c003f3a0a04c430010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(Zoom, false) = aa2534120c009f3a0a0444310100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(Zoom, true) = aa2534120c009f3a0a044431010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(DynamicZoom, false) = aa2534120c001efb0a0444330100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(DynamicZoom, true) = aa2534120c001efb0a044433010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(DirectionChange, false) = aa2534120c007f3b0a04c4330100e63f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture(DirectionChange, true) = aa2534120c007f3b0a04c433010027ff0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture_zoom_ratio(0.99) = error: invalid value: gesture zoom ratio is 1.0-4.0
+cmd::gesture_zoom_ratio(1) = aa2534120c00df3b0a04443204009fd70000803f00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture_zoom_ratio(2.5) = aa2534120c00df3b0a0444320400a6370000204000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture_zoom_ratio(4) = aa2534120c00df3b0a0444320400de370000804000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gesture_zoom_ratio(4.01) = error: invalid value: gesture zoom ratio is 1.0-4.0
+cmd::gesture_zoom_ratio(NaN) = error: invalid value: gesture zoom ratio is 1.0-4.0
+cmd::hand_return_after(-1) = error: invalid value: hand return time is 0 seconds or more
+cmd::hand_return_after(-0) = aa2534120c005ef50a0444240400bfa70000008000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_after(0) = aa2534120c005ef50a0444240400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_after(2.5) = aa2534120c005ef50a0444240400a6370000204000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_after(600) = aa2534120c005ef50a0444240400b0540000164400000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_return_after(inf) = error: invalid value: hand return time is 0 seconds or more
+cmd::hand_return_after(NaN) = error: invalid value: hand return time is 0 seconds or more
+cmd::audio_volume(0) = aa2534120c004cef0a0202810200fe060000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::audio_volume(1) = aa2534120c004cef0a0202810200ff960100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::audio_volume(50) = aa2534120c004cef0a0202810200eb663200000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::audio_volume(100) = aa2534120c004cef0a0202810200d4c66400000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::audio_volume(101) = error: invalid value: microphone volume is 0-100
+cmd::audio_volume(255) = error: invalid value: microphone volume is 0-100
+cmd::focus_point(-0.01, -0.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(-0.01, -0.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(-0.01, 0) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(-0.01, 0) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(-0.01, 0.75) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(-0.01, 0.75) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(-0.01, 1) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(-0.01, 1) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(-0.01, 1.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(-0.01, 1.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(0, -0.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(0, -0.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(0, 0) = aa2534120c002d580a0282351400df600000000000000000010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0, 0) = aa2534120c009eed0a04440508007a220000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0, 0.75) = aa2534120c002d580a0282351400cb1f000000000000403f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0, 0.75) = aa2534120c009eed0a04440508000bf2000000000000403f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0, 1) = aa2534120c002d580a02823514000bdf000000000000803f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0, 1) = aa2534120c009eed0a04440508005bf2000000000000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0, 1.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(0, 1.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(0.25, -0.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(0.25, -0.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(0.25, 0) = aa2534120c002d580a028235140086e40000803e00000000010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0.25, 0) = aa2534120c009eed0a04440508004c270000803e00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0.25, 0.75) = aa2534120c002d580a0282351400929b0000803e0000403f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0.25, 0.75) = aa2534120c009eed0a04440508003df70000803e0000403f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0.25, 1) = aa2534120c002d580a0282351400525b0000803e0000803f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(0.25, 1) = aa2534120c009eed0a04440508006df70000803e0000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(0.25, 1.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(0.25, 1.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1, -0.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1, -0.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1, 0) = aa2534120c002d580a0282351400d7740000803f00000000010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(1, 0) = aa2534120c009eed0a044405080071e70000803f00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(1, 0.75) = aa2534120c002d580a0282351400c30b0000803f0000403f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(1, 0.75) = aa2534120c009eed0a044405080000370000803f0000403f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(1, 1) = aa2534120c002d580a028235140003cb0000803f0000803f010000006400000064000000000000000000000000000000000000000000000000000000
+cmd::view_center(1, 1) = aa2534120c009eed0a044405080050370000803f0000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::focus_point(1, 1.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1, 1.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1.01, -0.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1.01, -0.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1.01, 0) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1.01, 0) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1.01, 0.75) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1.01, 0.75) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1.01, 1) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1.01, 1) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::focus_point(1.01, 1.01) = error: invalid value: focus point x and y are 0.0-1.0
+cmd::view_center(1.01, 1.01) = error: invalid value: centre point x and y are 0.0-1.0
+cmd::zone_area((-45.0, 45.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c04002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-45.0, 45.0), (-30.0, 10.0)) = aa2534120c005f360a04442004002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c420040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (-45.0, 45.0)) = aa2534120c006edb0a04044c04002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-45.0, 45.0), (-45.0, 45.0)) = aa2534120c005f360a04442004002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c420040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-150.0, 150.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c0400f036000016c300000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c0400f1960000164300000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-150.0, 150.0), (-30.0, 10.0)) = aa2534120c005f360a0444200400f036000016c300000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c4200400f1960000164300000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (-150.0, 150.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (-150.0, 150.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-150.5, 0.0), (-30.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-150.5, 0.0), (-30.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-45.0, 45.0), (-150.5, 0.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (-150.5, 0.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((0.0, 150.5), (-30.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((0.0, 150.5), (-30.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-45.0, 45.0), (0.0, 150.5)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (0.0, 150.5)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-90.0, 70.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c040048960000b4c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c04005af600008c4200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-90.0, 70.0), (-30.0, 10.0)) = aa2534120c005f360a044420040048960000b4c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c42004005af600008c4200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (-90.0, 70.0)) = aa2534120c006edb0a04044c04002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d040048960000b4c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d04005af600008c4200000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-45.0, 45.0), (-90.0, 70.0)) = aa2534120c005f360a04442004002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c420040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a044421040048960000b4c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c42104005af600008c4200000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-90.5, 0.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c040049060000b5c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c0400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-90.5, 0.0), (-30.0, 10.0)) = aa2534120c005f360a044420040049060000b5c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c4200400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (-90.5, 0.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (-90.5, 0.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((0.0, 70.5), (-30.0, 10.0)) = aa2534120c006edb0a04044c0400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c04005b6600008d4200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((0.0, 70.5), (-30.0, 10.0)) = aa2534120c005f360a0444200400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c42004005b6600008d4200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (0.0, 70.5)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (0.0, 70.5)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-30.0, 10.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-30.0, 10.0), (-30.0, 10.0)) = aa2534120c005f360a04442004003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c420040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((-45.0, 45.0), (-30.0, 10.0)) = aa2534120c006edb0a04044c04002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c005ede0a04844c040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c000ed10a04044d04003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c003ed40a04844d040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::hand_area((-45.0, 45.0), (-30.0, 10.0)) = aa2534120c005f360a04442004002956000034c200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c006f330a04c420040028f60000344200000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c003f3c0a04442104003b970000f0c100000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c000f390a04c421040067f70000204100000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zone_area((10.0, 10.0), (-30.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((10.0, 10.0), (-30.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-45.0, 45.0), (10.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (10.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((10.0, -10.0), (-30.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((10.0, -10.0), (-30.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-45.0, 45.0), (10.0, -10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (10.0, -10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((NaN, 1.0), (-30.0, 10.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((NaN, 1.0), (-30.0, 10.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::zone_area((-45.0, 45.0), (NaN, 1.0)) = error: invalid value: zone area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area((-45.0, 45.0), (NaN, 1.0)) = error: invalid value: hand area: min must be below max, pan within -150..150, tilt within -70..90
+cmd::hand_area_reset() = aa2534120c00fef50a04c4250000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c00bf310a0404260000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2536120c007efe0a0444260000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2537120c007f3b0a0484260000ffdb0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(None, None) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(None, Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(None, Some(-70.0)) = aa2534120c005f050a0444640c0040ea00007ac400008cc200007ac40000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(None, Some(0.0)) = aa2534120c005f050a0444640c00263700007ac40000000000007ac40000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(None, Some(12.5)) = aa2534120c005f050a0444640c0015b000007ac40000484100007ac40000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(None, Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(None, Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(None, Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(None, Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-150.0), None) = aa2534120c005f050a0444640c00b0be00007ac400007ac4000016c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-150.0), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-150.0), Some(-70.0)) = aa2534120c005f050a0444640c002c2800007ac400008cc2000016c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-150.0), Some(0.0)) = aa2534120c005f050a0444640c004af500007ac400000000000016c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-150.0), Some(12.5)) = aa2534120c005f050a0444640c00797200007ac400004841000016c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-150.0), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-150.0), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-150.0), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-150.0), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-70.0), None) = aa2534120c005f050a0444640c001bde00007ac400007ac400008cc20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-70.0), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-70.0), Some(-70.0)) = aa2534120c005f050a0444640c00874800007ac400008cc200008cc20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-70.0), Some(0.0)) = aa2534120c005f050a0444640c00e19500007ac40000000000008cc20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-70.0), Some(12.5)) = aa2534120c005f050a0444640c00d21200007ac40000484100008cc20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-70.0), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-70.0), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-70.0), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-70.0), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(0.0), None) = aa2534120c005f050a0444640c00fe8f00007ac400007ac4000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(0.0), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(0.0), Some(-70.0)) = aa2534120c005f050a0444640c00621900007ac400008cc2000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(0.0), Some(0.0)) = aa2534120c005f050a0444640c0004c400007ac400000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(0.0), Some(12.5)) = aa2534120c005f050a0444640c00374300007ac400004841000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(0.0), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(0.0), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(0.0), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(0.0), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(12.5), None) = aa2534120c005f050a0444640c0008bf00007ac400007ac4000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(12.5), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(12.5), Some(-70.0)) = aa2534120c005f050a0444640c00942900007ac400008cc2000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(12.5), Some(0.0)) = aa2534120c005f050a0444640c00f2f400007ac400000000000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(12.5), Some(12.5)) = aa2534120c005f050a0444640c00c17300007ac400004841000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(12.5), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(12.5), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(12.5), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(12.5), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(90.0), None) = aa2534120c005f050a0444640c0009be00007ac400007ac40000b4420000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(90.0), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(90.0), Some(-70.0)) = aa2534120c005f050a0444640c00952800007ac400008cc20000b4420000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(90.0), Some(0.0)) = aa2534120c005f050a0444640c00f3f500007ac4000000000000b4420000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(90.0), Some(12.5)) = aa2534120c005f050a0444640c00c07200007ac4000048410000b4420000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(90.0), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(90.0), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(90.0), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(90.0), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.0), None) = aa2534120c005f050a0444640c00b11e00007ac400007ac4000016430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(150.0), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.0), Some(-70.0)) = aa2534120c005f050a0444640c002d8800007ac400008cc2000016430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(150.0), Some(0.0)) = aa2534120c005f050a0444640c004b5500007ac400000000000016430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(150.0), Some(12.5)) = aa2534120c005f050a0444640c0078d200007ac400004841000016430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(150.0), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.0), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.0), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.0), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), None) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(-70.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(0.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(12.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(150.5), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-90.5), None) = aa2534120c005f050a0444640c00098e00007ac400007ac40000b5c20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-90.5), Some(-150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-90.5), Some(-70.0)) = aa2534120c005f050a0444640c00951800007ac400008cc20000b5c20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-90.5), Some(0.0)) = aa2534120c005f050a0444640c00f3c500007ac4000000000000b5c20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-90.5), Some(12.5)) = aa2534120c005f050a0444640c00c04200007ac4000048410000b5c20000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_pose(Some(-90.5), Some(90.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-90.5), Some(150.0)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-90.5), Some(150.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose(Some(-90.5), Some(-90.5)) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(None, None, 0.99) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(None, None, 1) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(None, None, 45) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(None, None, 180) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(None, None, 180.5) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(None, None, NaN) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), None, 0.99) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), None, 1) = aa2534120c009ec50a0444651800bcaf0000803f0000803f0000803f00007ac400007ac4000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), None, 45) = aa2534120c009ec50a04446518002b5e00003442000034420000344200007ac400007ac4000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), None, 180) = aa2534120c009ec50a0444651800689e00003443000034430000344300007ac400007ac4000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), None, 180.5) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), None, NaN) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(None, Some(-5.0), 0.99) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(None, Some(-5.0), 1) = aa2534120c009ec50a04446518008a960000803f0000803f0000803f00007ac40000a0c000007ac40000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(None, Some(-5.0), 45) = aa2534120c009ec50a04446518001d6700003442000034420000344200007ac40000a0c000007ac40000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(None, Some(-5.0), 180) = aa2534120c009ec50a04446518005ea700003443000034430000344300007ac40000a0c000007ac40000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(None, Some(-5.0), 180.5) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(None, Some(-5.0), NaN) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), 0.99) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), 1) = aa2534120c009ec50a04446518005e550000803f0000803f0000803f00007ac40000a0c0000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), 45) = aa2534120c009ec50a0444651800c9a400003442000034420000344200007ac40000a0c0000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), 180) = aa2534120c009ec50a04446518008a6400003443000034430000344300007ac40000a0c0000048410000000000000000000000000000000000000000
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), 180.5) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(12.5), Some(-5.0), NaN) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), 0.99) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), 1) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), 45) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), 180) = error: invalid value: gimbal pose needs pan -150..150 and/or tilt -70..90
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), 180.5) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_pose_speed(Some(150.5), Some(0.0), NaN) = error: invalid value: gimbal speed is 1-180 degrees per second
+cmd::gimbal_rate(-178.5, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, -178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, -0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, 0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, 5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, 178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178.5, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-178, -178, false, false) = aa2534120c000f050a0484640c0051460000000000003243000032430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-178, -0, false, false) = aa2534120c000f050a0484640c00109b0000000000000000000032430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-178, 0, false, false) = aa2534120c000f050a0484640c00109b0000000000000000000032430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-178, 5, false, false) = aa2534120c000f050a0484640c00082a000000000000a0c0000032430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-178, 178, false, false) = aa2534120c000f050a0484640c00509800000000000032c3000032430000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-178, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-0, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(-0, -178, false, false) = aa2534120c000f050a0484640c0005d70000000000003243000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-0, -0, false, false) = aa2534120c000f050a0484640c00440a0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-0, 0, false, false) = aa2534120c000f050a0484640c00440a0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-0, 5, false, false) = aa2534120c000f050a0484640c005cbb000000000000a0c0000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-0, 178, false, false) = aa2534120c000f050a0484640c00040900000000000032c3000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(-0, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(0, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(0, -178, false, false) = aa2534120c000f050a0484640c0005d70000000000003243000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(0, -0, false, false) = aa2534120c000f050a0484640c00440a0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(0, 0, false, false) = aa2534120c000f050a0484640c00440a0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(0, 5, false, false) = aa2534120c000f050a0484640c005cbb000000000000a0c0000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(0, 178, false, false) = aa2534120c000f050a0484640c00040900000000000032c3000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(0, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(12.5, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(12.5, -178, false, false) = aa2534120c000f050a0484640c00f2470000000000003243000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, -0, false, false) = aa2534120c000f050a0484640c00b39a0000000000000000000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 0, false, false) = aa2534120c000f050a0484640c00b39a0000000000000000000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 5, false, false) = aa2534120c000f050a0484640c00ab2b000000000000a0c0000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 178, false, false) = aa2534120c000f050a0484640c00f39900000000000032c3000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178, -178, false, false) = aa2534120c000f050a0484640c0050e60000000000003243000032c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(178, -0, false, false) = aa2534120c000f050a0484640c00113b0000000000000000000032c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(178, 0, false, false) = aa2534120c000f050a0484640c00113b0000000000000000000032c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(178, 5, false, false) = aa2534120c000f050a0484640c00098a000000000000a0c0000032c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(178, 178, false, false) = aa2534120c000f050a0484640c00513800000000000032c3000032c30000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(178, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, -178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, -0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, 0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, 5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, 178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(178.5, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, -178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, -178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, -0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, 0, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, 5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, 178, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(NaN, 178.5, false, false) = error: invalid value: gimbal rate is -178 to 178 degrees per second
+cmd::gimbal_rate(12.5, 5, true, false) = aa2534120c000f050a0484640c00aa8b000000000000a0c0000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 5, false, true) = aa2534120c000f050a0484640c00aa8b000000000000a0c0000048410000000000000000000000000000000000000000000000000000000000000000
+cmd::gimbal_rate(12.5, 5, true, true) = aa2534120c000f050a0484640c00ab2b000000000000a0c0000048c10000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(0, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(0, 1) = error: invalid value: zoom speed must be positive
+cmd::zoom_to(0, 2.5) = error: invalid value: zoom speed must be positive
+cmd::zoom_to(0, 4) = error: invalid value: zoom speed must be positive
+cmd::zoom_to(0, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(1, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(1, 1) = aa2534120c000f000a04846808009a3e010000000000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(1, 2.5) = aa2534120c000f000a0484680800a3de0100000000002040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(1, 4) = aa2534120c000f000a0484680800dbde0100000000008040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(1, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(10, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(10, 1) = aa2534120c000f000a0484680800db8d0a0000000000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(10, 2.5) = aa2534120c000f000a0484680800e26d0a00000000002040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(10, 4) = aa2534120c000f000a04846808009a6d0a00000000008040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(10, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(30, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(30, 1) = aa2534120c000f000a0484680800db721e0000000000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(30, 2.5) = aa2534120c000f000a0484680800e2921e00000000002040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(30, 4) = aa2534120c000f000a04846808009a921e00000000008040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(30, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(50, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(50, 1) = aa2534120c000f000a0484680800d93f320000000000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(50, 2.5) = aa2534120c000f000a0484680800e0df3200000000002040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(50, 4) = aa2534120c000f000a048468080098df3200000000008040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(50, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(2147483647, 0.99) = error: invalid value: zoom factor is 1.0-4.0
+cmd::zoom_to(2147483647, 1) = aa2534120c000f000a04846808001a3cffffff7f0000803f000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(2147483647, 2.5) = aa2534120c000f000a048468080023dcffffff7f00002040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(2147483647, 4) = aa2534120c000f000a04846808005bdcffffff7f00008040000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::zoom_to(2147483647, 4.01) = error: invalid value: zoom factor is 1.0-4.0
+cmd::framing_offset(false, -0.17) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::framing_offset(false, -0.16) = aa2534120c007ee90a04c40b040094a70ad723be00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(false, -0) = aa2534120c007ee90a04c40b0400bfa70000008000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(false, 0) = aa2534120c007ee90a04c40b0400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(false, 0.1) = aa2534120c007ee90a04c40b0400d445cdcccc3d00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(false, 0.16) = aa2534120c007ee90a04c40b040095070ad7233e00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(false, 0.17) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::framing_offset(false, NaN) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::framing_offset(true, -0.17) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::framing_offset(true, -0.16) = aa2534120c005eeb0a04440c040094a70ad723be00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(true, -0) = aa2534120c005eeb0a04440c0400bfa70000008000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(true, 0) = aa2534120c005eeb0a04440c0400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(true, 0.1) = aa2534120c005eeb0a04440c0400d445cdcccc3d00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(true, 0.16) = aa2534120c005eeb0a04440c040095070ad7233e00000000000000000000000000000000000000000000000000000000000000000000000000000000
+cmd::framing_offset(true, 0.17) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::framing_offset(true, NaN) = error: invalid value: framing offset is -0.16 to 0.16 of the frame
+cmd::gimbal_angles_ok(-150.5, -70.5) = false
+cmd::gimbal_angles_ok(-150.5, -70) = false
+cmd::gimbal_angles_ok(-150.5, 0) = false
+cmd::gimbal_angles_ok(-150.5, 90) = false
+cmd::gimbal_angles_ok(-150.5, 90.5) = false
+cmd::gimbal_angles_ok(-150, -70.5) = false
+cmd::gimbal_angles_ok(-150, -70) = true
+cmd::gimbal_angles_ok(-150, 0) = true
+cmd::gimbal_angles_ok(-150, 90) = true
+cmd::gimbal_angles_ok(-150, 90.5) = false
+cmd::gimbal_angles_ok(0, -70.5) = false
+cmd::gimbal_angles_ok(0, -70) = true
+cmd::gimbal_angles_ok(0, 0) = true
+cmd::gimbal_angles_ok(0, 90) = true
+cmd::gimbal_angles_ok(0, 90.5) = false
+cmd::gimbal_angles_ok(150, -70.5) = false
+cmd::gimbal_angles_ok(150, -70) = true
+cmd::gimbal_angles_ok(150, 0) = true
+cmd::gimbal_angles_ok(150, 90) = true
+cmd::gimbal_angles_ok(150, 90.5) = false
+cmd::gimbal_angles_ok(150.5, -70.5) = false
+cmd::gimbal_angles_ok(150.5, -70) = false
+cmd::gimbal_angles_ok(150.5, 0) = false
+cmd::gimbal_angles_ok(150.5, 90) = false
+cmd::gimbal_angles_ok(150.5, 90.5) = false
+presets::create(0, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c009efc0a0444391800f3ad00000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::update(0, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00eefe0a04043e1800f3ad00000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::create(0, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c009efc0a044439180047e3000000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(0, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e180047e3000000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(0, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c009efc0a044439180077ad00000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(0, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e180077ad00000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(0, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c009efc0a0444391800c5b600000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::update(0, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00eefe0a04043e1800c5b600000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::create(0, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(0, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(0, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(0, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(0, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(0, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(0, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::rename(0, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(0, "Desk") = aa2534120c008efd0a04843a08001a12000000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::rename(0, "Bereich1") = aa2534120c008efd0a04843a0c00b1a90000000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::rename(0, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(0, "12345678901234567890123456789012") = aa2534120c008efd0a04843a2400c1ee0000000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::rename(0, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::delete(0) = aa2534120c00cefc0a0484390400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c009efa0a04843d2c002a5f00000000feffffffffffffff80ffffffffffffff00000000ffffffff00ffffffffffffffff00000000000000
+presets::recall(0) = aa2534120c00ff3c0a04c4391400d6fb000000000000803f0000803f0000803f0000803f000000000000000000000000000000000000000000000000
+presets::create(1, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c009efc0a0444391800ae3801000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::update(1, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00eefe0a04043e1800ae3801000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::create(1, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c009efc0a04443918001a76010000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(1, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e18001a76010000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(1, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c009efc0a04443918002a3801000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(1, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e18002a3801000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(1, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c009efc0a0444391800982301000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::update(1, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00eefe0a04043e1800982301000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::create(1, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(1, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(1, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(1, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(1, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(1, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(1, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::rename(1, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(1, "Desk") = aa2534120c008efd0a04843a0800dbde010000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::rename(1, "Bereich1") = aa2534120c008efd0a04843a0c004c6a0100000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::rename(1, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(1, "12345678901234567890123456789012") = aa2534120c008efd0a04843a240000330100000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::rename(1, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::delete(1) = aa2534120c00cefc0a0484390400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c009efa0a04843d2c002a5f00000000feffffffffffffff80ffffffffffffff00000000ffffffff00ffffffffffffffff00000000000000
+presets::recall(1) = aa2534120c00ff3c0a04c4391400eb2a010000000000803f0000803f0000803f0000803f000000000000000000000000000000000000000000000000
+presets::create(2, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c009efc0a04443918004ac702000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::update(2, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00eefe0a04043e18004ac702000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::create(2, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c009efc0a0444391800fe89020000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(2, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e1800fe89020000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(2, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c009efc0a0444391800cec702000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::update(2, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00eefe0a04043e1800cec702000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::create(2, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c009efc0a04443918007cdc02000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::update(2, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00eefe0a04043e18007cdc02000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::create(2, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(2, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(2, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(2, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(2, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::create(2, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::update(2, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::rename(2, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(2, "Desk") = aa2534120c008efd0a04843a08009bcb020000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::rename(2, "Bereich1") = aa2534120c008efd0a04843a0c00486e0200000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::rename(2, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::rename(2, "12345678901234567890123456789012") = aa2534120c008efd0a04843a240040150200000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::rename(2, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::delete(2) = aa2534120c00cefc0a0484390400bfbf0200000000000000000000000000000000000000000000000000000000000000000000000000000000000000 aa2535120c009efa0a04843d2c002a5f00000000feffffffffffffff80ffffffffffffff00000000ffffffff00ffffffffffffffff00000000000000
+presets::recall(2) = aa2534120c00ff3c0a04c4391400af19020000000000803f0000803f0000803f0000803f000000000000000000000000000000000000000000000000
+presets::create(3, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset slot is 0-2
+presets::create(3, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(3, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::rename(3, "") = error: invalid value: preset slot is 0-2
+presets::rename(3, "Desk") = error: invalid value: preset slot is 0-2
+presets::rename(3, "Bereich1") = error: invalid value: preset slot is 0-2
+presets::rename(3, "äöü") = error: invalid value: preset slot is 0-2
+presets::rename(3, "12345678901234567890123456789012") = error: invalid value: preset slot is 0-2
+presets::rename(3, "123456789012345678901234567890123") = error: invalid value: preset slot is 0-2
+presets::delete(3) = error: invalid value: preset slot is 0-2
+presets::recall(3) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: preset slot is 0-2
+presets::create(255, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::update(255, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: preset slot is 0-2
+presets::rename(255, "") = error: invalid value: preset slot is 0-2
+presets::rename(255, "Desk") = error: invalid value: preset slot is 0-2
+presets::rename(255, "Bereich1") = error: invalid value: preset slot is 0-2
+presets::rename(255, "äöü") = error: invalid value: preset slot is 0-2
+presets::rename(255, "12345678901234567890123456789012") = error: invalid value: preset slot is 0-2
+presets::rename(255, "123456789012345678901234567890123") = error: invalid value: preset slot is 0-2
+presets::delete(255) = error: invalid value: preset slot is 0-2
+presets::recall(255) = error: invalid value: preset slot is 0-2
+presets::view_add(0, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c004f230a0484131800f3ad00000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::view_add(0, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c004f230a048413180047e3000000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(0, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c004f230a048413180077ad00000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(0, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c004f230a0484131800c5b600000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::view_add(0, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(0, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(0, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(0, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(0, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(0, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_rename(0, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(0, "Desk") = aa2534120c009f210a04441508001a12000000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(0, "Bereich1") = aa2534120c009f210a0444150c00b1a90000000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(0, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(0, "12345678901234567890123456789012") = aa2534120c009f210a0444152400c1ee0000000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::view_rename(0, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_remove(0) = aa2534120c007ee30a04c4130400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_go(0) = aa2534120c00eee00a0404160400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1504, 0) = aa2134120c00bbd10a0404150400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1444, 0) = aa2134120c004bd10a0444140400be070000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_add(1, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c004f230a0484131800ae3801000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::view_add(1, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c004f230a04841318001a76010000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(1, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c004f230a04841318002a3801000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(1, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c004f230a0484131800982301000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::view_add(1, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(1, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(1, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(1, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(1, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(1, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_rename(1, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(1, "Desk") = aa2534120c009f210a0444150800dbde010000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(1, "Bereich1") = aa2534120c009f210a0444150c004c6a0100000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(1, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(1, "12345678901234567890123456789012") = aa2534120c009f210a044415240000330100000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::view_rename(1, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_remove(1) = aa2534120c007ee30a04c4130400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_go(1) = aa2534120c00eee00a0404160400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1504, 1) = aa2134120c00bbd10a0404150400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1444, 1) = aa2134120c004bd10a0444140400bffb0100000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_add(7, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c004f230a0484131800658707000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::view_add(7, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c004f230a0484131800d1c9070000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(7, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c004f230a0484131800e18707000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(7, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c004f230a0484131800539c07000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::view_add(7, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(7, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(7, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(7, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(7, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(7, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_rename(7, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(7, "Desk") = aa2534120c009f210a04441508005bf4070000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(7, "Bereich1") = aa2534120c009f210a0444150c0044620700000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(7, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(7, "12345678901234567890123456789012") = aa2534120c009f210a0444152400807f0700000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::view_rename(7, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_remove(7) = aa2534120c007ee30a04c4130400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_go(7) = aa2534120c00eee00a0404160400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1504, 7) = aa2134120c00bbd10a0404150400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1444, 7) = aa2134120c004bd10a0444140400bf730700000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_add(255, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c004f230a048413180083aaff000000000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::view_add(255, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c004f230a048413180037e4ff0000000000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(255, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c004f230a048413180007aaff000000000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(255, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c004f230a0484131800b5b1ff000000000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::view_add(255, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(255, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(255, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(255, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(255, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(255, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_rename(255, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(255, "Desk") = aa2534120c009f210a04441508005516ff0000004465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(255, "Bereich1") = aa2534120c009f210a0444150c00e6bcff00000042657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(255, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(255, "12345678901234567890123456789012") = aa2534120c009f210a04441524009ae5ff00000031323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::view_rename(255, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_remove(255) = aa2534120c007ee30a04c41304008e13ff00000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_go(255) = aa2534120c00eee00a04041604008e13ff00000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1504, 255) = aa2134120c00bbd10a04041504008e13ff00000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1444, 255) = aa2134120c004bd10a04441404008e13ff00000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_add(4294967295, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c004f230a0484131800d251ffffffff000028410000a840000000000000004000007ac40000000000000000000000000000000000000000
+presets::view_add(4294967295, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c004f230a0484131800661fffffffff0000000000000000000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(4294967295, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c004f230a04841318005651ffffffff000016c300008c42000000000000803f00007ac40000000000000000000000000000000000000000
+presets::view_add(4294967295, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c004f230a0484131800e44affffffff000016430000b4c2000000000000804000007ac40000000000000000000000000000000000000000
+presets::view_add(4294967295, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(4294967295, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(4294967295, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(4294967295, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(4294967295, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_add(4294967295, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: zone view pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::view_rename(4294967295, "") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(4294967295, "Desk") = aa2534120c009f210a04441508005a02ffffffff4465736b000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(4294967295, "Bereich1") = aa2534120c009f210a0444150c00a5acffffffff42657265696368310000000000000000000000000000000000000000000000000000000000000000
+presets::view_rename(4294967295, "äöü") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_rename(4294967295, "12345678901234567890123456789012") = aa2534120c009f210a044415240081c1ffffffff31323334353637383930313233343536373839303132333435363738393031320000000000000000
+presets::view_rename(4294967295, "123456789012345678901234567890123") = error: invalid value: name must be 1-32 printable ASCII characters
+presets::view_remove(4294967295) = aa2534120c007ee30a04c4130400bf93ffffffff00000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_go(4294967295) = aa2534120c00eee00a0404160400bf93ffffffff00000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1504, 4294967295) = aa2134120c00bbd10a0404150400bf93ffffffff00000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::view_query(0x1444, 4294967295) = aa2134120c004bd10a0444140400bf93ffffffff00000000000000000000000000000000000000000000000000000000000000000000000000000000
+presets::startup_pose(0, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00befe0a04c43e1800d15e00000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::startup_pose(0, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e18006510000000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(0, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e1800555e00000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(0, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00befe0a04c43e1800e74500000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::startup_pose(0, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(0, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(0, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(0, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(0, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(0, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00befe0a04c43e18008ccb01000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::startup_pose(1, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e18003885010000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(1, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e180008cb01000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(1, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00befe0a04c43e1800bad001000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::startup_pose(1, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(1, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00befe0a04c43e1800683402000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::startup_pose(2, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e1800dc7a020000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(2, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e1800ec3402000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(2, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00befe0a04c43e18005e2f02000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::startup_pose(2, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(2, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00befe0a04c43e180035a103000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::startup_pose(3, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e180081ef030000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(3, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e1800b1a103000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(3, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00befe0a04c43e180003ba03000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::startup_pose(3, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(3, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c00befe0a04c43e1800a38b04000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::startup_pose(4, Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e180017c5040000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(4, Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c00befe0a04c43e1800278b04000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::startup_pose(4, Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c00befe0a04c43e1800959004000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::startup_pose(4, Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_pose(4, Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: start pose needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c008eda0a04844e1800d15e00000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::hand_return_set(Pose { pan: 10.5, tilt: -5.25, zoom: 2.0 }) = aa2534120c003f350a04c4241800d15e00000000000028410000a8400000000000000040000000000000000000000000000000000000000000000000
+presets::zone_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c008eda0a04844e18006510000000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::hand_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 1.0 }) = aa2534120c003f350a04c42418006510000000000000000000000000000000000000803f000000000000000000000000000000000000000000000000
+presets::zone_return_set(Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c008eda0a04844e1800555e00000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::hand_return_set(Pose { pan: -150.0, tilt: -70.0, zoom: 1.0 }) = aa2534120c003f350a04c4241800555e00000000000016c300008c42000000000000803f000000000000000000000000000000000000000000000000
+presets::zone_return_set(Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c008eda0a04844e1800e74500000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::hand_return_set(Pose { pan: 150.0, tilt: 90.0, zoom: 4.0 }) = aa2534120c003f350a04c4241800e74500000000000016430000b4c20000000000008040000000000000000000000000000000000000000000000000
+presets::zone_return_set(Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: 150.1, tilt: 0.0, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: 0.0, tilt: 90.5, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: 0.0, tilt: -70.5, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 4.01 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: 0.0, tilt: 0.0, zoom: 0.99 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::zone_return_set(Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::hand_return_set(Pose { pan: NaN, tilt: 0.0, zoom: 1.0 }) = error: invalid value: return position needs pan -150..150, tilt -70..90 and zoom 1.0-4.0
+presets::startup_picture_settings(Static) = aa2534120c00df3e0a04443e2800e012ffffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_picture_settings(Normal) = aa2534120c00df3e0a04443e280082f400ffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_picture_settings(UpperBody) = aa2534120c00df3e0a04443e28002f3201ffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_picture_settings(Headless) = aa2534120c00df3e0a04443e280076ff03ffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_picture_settings(Group) = aa2534120c00df3e0a04443e28004ec709ffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_picture_settings(None) = aa2534120c00df3e0a04443e28004dd4feffffffffffffff80ffffffffffffff00000000ffffffff0000000000000000000000000000000000000000
+presets::startup_with_ai(0..0, 0x00) = none
+presets::startup_with_ai(0..0, 0xfe) = none
+presets::startup_with_ai(0..0, 0xff) = none
+presets::startup_with_ai(0..39, 0x00) = none
+presets::startup_with_ai(0..39, 0xfe) = none
+presets::startup_with_ai(0..39, 0xff) = none
+presets::startup_with_ai(0..40, 0x00) = aa2534120c00df3e0a04443e2800187d000102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
+presets::startup_with_ai(0..40, 0xfe) = aa2534120c00df3e0a04443e2800d75dfe0102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
+presets::startup_with_ai(0..40, 0xff) = aa2534120c00df3e0a04443e28007a9bff0102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
+presets::startup_with_ai(0..48, 0x00) = aa2534120c00df3e0a04443e2800187d000102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
+presets::startup_with_ai(0..48, 0xfe) = aa2534120c00df3e0a04443e2800d75dfe0102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
+presets::startup_with_ai(0..48, 0xff) = aa2534120c00df3e0a04443e28007a9bff0102030405060708090a0b0c0d0e0f101112131415161718191a1b1c1d1e1f202122232425262700000000
diff --git a/crates/obsbot4linux/Cargo.toml b/crates/obsbot4linux/Cargo.toml
new file mode 100644
index 0000000..a5e8385
--- /dev/null
+++ b/crates/obsbot4linux/Cargo.toml
@@ -0,0 +1,47 @@
+[package]
+name = "obsbot4linux"
+description = "Control OBSBOT webcams on Linux from the console and the DMS widget"
+version.workspace = true
+edition.workspace = true
+rust-version.workspace = true
+authors.workspace = true
+license.workspace = true
+repository.workspace = true
+homepage.workspace = true
+publish.workspace = true
+readme = "../../README.md"
+
+[[bin]]
+name = "obsbot4linux"
+path = "src/main.rs"
+
+[dependencies]
+obsbot-device.workspace = true
+clap.workspace = true
+nix.workspace = true
+serde.workspace = true
+serde_json.workspace = true
+
+[package.metadata.deb]
+maintainer = "Thomas Kroll <t.kroll@outlook.com>"
+section = "video"
+extended-description = "Most settings OBSBOT Center offers, from the console and from the DMS bar widget.\nWhat is missing: https://github.com/hellwand/obsbot4linux/blob/main/docs/center-parity.md\nThe obsbot4linux daemon (systemd user socket) owns the camera state."
+depends = "$auto"
+license-file = ["../../LICENSE", "0"]
+assets = [
+    ["target/release/obsbot4linux", "usr/bin/", "755"],
+    ["../../packaging/systemd/obsbot4linux.service", "usr/lib/systemd/user/", "644"],
+    ["../../packaging/systemd/obsbot4linux.socket", "usr/lib/systemd/user/", "644"],
+    ["../../README.md", "usr/share/doc/obsbot4linux/", "644"],
+    ["../../CHANGELOG.md", "usr/share/doc/obsbot4linux/", "644"],
+]
+
+[package.metadata.generate-rpm]
+assets = [
+    { source = "target/release/obsbot4linux", dest = "/usr/bin/obsbot4linux", mode = "755" },
+    { source = "../../packaging/systemd/obsbot4linux.service", dest = "/usr/lib/systemd/user/obsbot4linux.service", mode = "644" },
+    { source = "../../packaging/systemd/obsbot4linux.socket", dest = "/usr/lib/systemd/user/obsbot4linux.socket", mode = "644" },
+    { source = "../../README.md", dest = "/usr/share/doc/obsbot4linux/README.md", mode = "644", doc = true },
+    { source = "../../CHANGELOG.md", dest = "/usr/share/doc/obsbot4linux/CHANGELOG.md", mode = "644", doc = true },
+    { source = "../../LICENSE", dest = "/usr/share/licenses/obsbot4linux/LICENSE", mode = "644" },
+]
diff --git a/src/cli.rs b/crates/obsbot4linux/src/cli.rs
similarity index 99%
rename from src/cli.rs
rename to crates/obsbot4linux/src/cli.rs
index 1869c42..e2813d4 100644
--- a/src/cli.rs
+++ b/crates/obsbot4linux/src/cli.rs
@@ -5,11 +5,11 @@
 use std::io::Write;
 
 use clap::{Parser, Subcommand, ValueEnum};
-use obsbot4linux::camera::{Camera, Identity};
-use obsbot4linux::commands::*;
-use obsbot4linux::device::Detected;
-use obsbot4linux::error::{Error, Result};
-use obsbot4linux::presets::{Pose, StartupAi};
+use obsbot_device::camera::{Camera, Identity};
+use obsbot_device::commands::*;
+use obsbot_device::device::Detected;
+use obsbot_device::error::{Error, Result};
+use obsbot_device::presets::{Pose, StartupAi};
 use serde_json::{Value, json};
 
 #[derive(Parser)]
@@ -971,7 +971,7 @@ pub fn run() -> i32 {
 /// `obsbot4linux detect`: exit 0 and the model (and device) of a supported camera, exit 1 and
 /// no output without one. Never goes through the daemon.
 fn detect(json: bool) -> i32 {
-    let Some(found) = obsbot4linux::device::detect() else {
+    let Some(found) = obsbot_device::device::detect() else {
         return 1;
     };
     let (value, text) = detect_output(&found);
@@ -996,7 +996,7 @@ fn report(json: bool, result: Result<()>) -> i32 {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use obsbot4linux::models::MODELS;
+    use obsbot_device::registry::MODELS;
 
     fn parse(args: &str) -> std::result::Result<Cmd, clap::Error> {
         Cli::try_parse_from(std::iter::once("obsbot4linux").chain(args.split(' ')))
diff --git a/src/client.rs b/crates/obsbot4linux/src/client.rs
similarity index 97%
rename from src/client.rs
rename to crates/obsbot4linux/src/client.rs
index ac5675f..5705b96 100644
--- a/src/client.rs
+++ b/crates/obsbot4linux/src/client.rs
@@ -4,7 +4,7 @@
 
 use crate::cli::Cli;
 use crate::proto::{Response, socket_path};
-use obsbot4linux::error::{Error, Result};
+use obsbot_device::error::{Error, Result};
 use serde_json::{Value, json};
 use std::fs::OpenOptions;
 use std::io::{BufRead, BufReader, Write};
@@ -55,7 +55,7 @@ fn connect_or_start() -> Result<UnixStream> {
     }
     let exe = std::env::current_exe()?;
     // its errors go next to the state file; without a log they are lost, not fatal
-    let log = obsbot4linux::state::path().with_file_name("daemon.log");
+    let log = obsbot_device::state::path().with_file_name("daemon.log");
     let stderr = log
         .parent()
         .map_or(Ok(()), std::fs::create_dir_all)
diff --git a/src/daemon.rs b/crates/obsbot4linux/src/daemon.rs
similarity index 99%
rename from src/daemon.rs
rename to crates/obsbot4linux/src/daemon.rs
index d0831d0..b380563 100644
--- a/src/daemon.rs
+++ b/crates/obsbot4linux/src/daemon.rs
@@ -10,10 +10,10 @@ use clap::Parser;
 use nix::errno::Errno;
 use nix::fcntl::{Flock, FlockArg};
 use nix::sys::stat::{Mode, umask};
-use obsbot4linux::camera::{CAPABILITIES, Camera, Identity, ZoneInfo};
-use obsbot4linux::error::{Error, Result};
-use obsbot4linux::state;
-use obsbot4linux::streaming;
+use obsbot_device::camera::{CAPABILITIES, Camera, Identity, ZoneInfo};
+use obsbot_device::error::{Error, Result};
+use obsbot_device::state;
+use obsbot_device::streaming;
 use serde_json::{Value, json};
 use std::collections::HashSet;
 use std::fs::{File, OpenOptions};
diff --git a/src/main.rs b/crates/obsbot4linux/src/main.rs
similarity index 100%
rename from src/main.rs
rename to crates/obsbot4linux/src/main.rs
diff --git a/src/proto.rs b/crates/obsbot4linux/src/proto.rs
similarity index 100%
rename from src/proto.rs
rename to crates/obsbot4linux/src/proto.rs
diff --git a/crates/obsbot4linux/tests/cli_surface.rs b/crates/obsbot4linux/tests/cli_surface.rs
new file mode 100644
index 0000000..dcfadcc
--- /dev/null
+++ b/crates/obsbot4linux/tests/cli_surface.rs
@@ -0,0 +1,75 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+//! CLI surface guard of the groundwork stage (rebuild plan, stage G): the `--help` text of the
+//! CLI and of every subcommand, compared with `tests/fixtures/cli-surface.txt`, which was
+//! written from the 0.13 code before the workspace move, and `--version`. Only `--help` and
+//! `--version` run: nothing opens a device or a socket.
+//!
+//! `CLI_SURFACE_BLESS=1 cargo test --test cli_surface` writes the file: once when this test is
+//! added, and on `main` in a change that alters a help text on purpose. A move never writes it;
+//! every other run compares.
+
+use std::process::Command;
+
+const FIXTURE: &str = concat!(
+    env!("CARGO_MANIFEST_DIR"),
+    "/tests/fixtures/cli-surface.txt"
+);
+
+fn run(args: &[&str]) -> String {
+    let out = Command::new(env!("CARGO_BIN_EXE_obsbot4linux"))
+        .args(args)
+        .output()
+        .expect("obsbot4linux runs");
+    assert!(out.status.success(), "obsbot4linux {args:?} failed");
+    String::from_utf8(out.stdout).expect("UTF-8 output")
+}
+
+/// The names in the "Commands:" section of a help text: the lines indented by exactly two
+/// spaces (a longer indent continues a description).
+fn subcommands(help: &str) -> Vec<String> {
+    help.lines()
+        .skip_while(|l| *l != "Commands:")
+        .skip(1)
+        .take_while(|l| l.starts_with(' '))
+        .filter(|l| !l.starts_with("   "))
+        .filter_map(|l| l.split_whitespace().next())
+        .filter(|name| *name != "help")
+        .map(String::from)
+        .collect()
+}
+
+fn walk(path: &mut Vec<String>, out: &mut String) {
+    let mut args: Vec<&str> = path.iter().map(String::as_str).collect();
+    args.push("--help");
+    let help = run(&args);
+    out.push_str(&format!("=== obsbot4linux {}\n{help}", args.join(" ")));
+    for sub in subcommands(&help) {
+        path.push(sub);
+        walk(path, out);
+        path.pop();
+    }
+}
+
+#[test]
+fn help_texts_are_unchanged() {
+    let mut out = String::new();
+    walk(&mut Vec::new(), &mut out);
+    // a hidden subcommand is not listed under "Commands:"
+    walk(&mut vec!["gimbal".into(), "center".into()], &mut out);
+    if std::env::var_os("CLI_SURFACE_BLESS").is_some() {
+        std::fs::write(FIXTURE, &out).unwrap();
+        return;
+    }
+    let recorded = std::fs::read_to_string(FIXTURE).expect("tests/fixtures/cli-surface.txt");
+    assert_eq!(out, recorded, "a help text of the CLI changed");
+}
+
+#[test]
+fn version_is_the_package_version() {
+    // the workspace move must keep the version the binary reports
+    assert_eq!(
+        run(&["--version"]),
+        format!("obsbot4linux {}\n", env!("CARGO_PKG_VERSION"))
+    );
+}
diff --git a/crates/obsbot4linux/tests/fixtures/cli-surface.txt b/crates/obsbot4linux/tests/fixtures/cli-surface.txt
new file mode 100644
index 0000000..2dcd923
--- /dev/null
+++ b/crates/obsbot4linux/tests/fixtures/cli-surface.txt
@@ -0,0 +1,1126 @@
+=== obsbot4linux --help
+Control the OBSBOT Tiny 2 Lite
+
+Usage: obsbot4linux [OPTIONS] <COMMAND>
+
+Commands:
+  daemon                   Run the daemon: owns the camera, serves the socket, broadcasts state changes
+  watch                    Stream state events as JSON lines and forward JSON requests from stdin (for widgets)
+  live-pose                Ask the daemon to poll the gimbal pose for this connection (a `watch` request; the daemon polls it every second only while a connection wants it). Not usable as a one-off call
+  detect                   Exit 0 and print the model (--json: model and video device) when a supported camera is connected, exit 1 with no output when not. Enumeration only: no daemon, no camera command
+  status                   Show all settings (the camera's status block, tracking readback, zoom, image controls, remembered state)
+  sleep                    Put the camera to sleep
+  wake                     Wake the camera, or set the stored wake-up zoom (`wake zoom`) or the tracking mode at power-on (`wake mode`)
+  tracking                 AI tracking mode
+  speed                    Tracking type: standard, sport (fixed fast gain) or headroom (more room above the head)
+  speed-mode               Fine tracking speed, from lazy to very-fast, or auto. Ignored while `speed sport` is set or the part mode is not normal
+  framing                  Framing options of the human tracking; an AI mode change overwrites them
+  hdr                      HDR
+  exposure                 Exposure: automatic metering over the whole picture (global) or on faces (face), or manual, optionally with the shutter time and gain (`image gain` sets the gain too; `image exposure_time` is refused unless the exposure is already manual)
+  zoom                     Zoom factor 1.0-4.0; with --speed the camera zooms smoothly instead of jumping
+  gimbal                   Move the gimbal to an absolute pose in degrees (switches tracking to static first), or `gimbal stop|rate`
+  fov                      Field of view (ignored by the camera while it sleeps)
+  led                      Status LED: brightness 0 (off) to 3, or `led blink on|off`
+  mirror                   Mirror the image
+  invert                   Invert view and gimbal (reverses the gimbal's pan direction)
+  auto-sleep               Auto-sleep: "off" or a time in seconds
+  sleep-background         Picture shown while the camera sleeps
+  sleep-background-mirror  Mirror the sleep background
+  audio                    Microphone settings
+  gesture                  Gesture control
+  hand                     Hand tracking: which hand, return position, area, axes
+  zone                     Zone tracking
+  focus                    Focus: autofocus mode, continuous autofocus, manual focus
+  startup                  Initial state: the pose the camera moves to when it powers on
+  image                    UVC image control, e.g. "image brightness 128" (names are in "status")
+  preset                   Presets stored in the camera (slots 0-2)
+  factory-reset            Reset the camera to factory settings (it restarts and deletes its presets)
+  help                     Print this message or the help of the given subcommand(s)
+
+Options:
+      --json     Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct   Do not use a running daemon; talk to the camera directly
+  -h, --help     Print help
+  -V, --version  Print version
+=== obsbot4linux daemon --help
+Run the daemon: owns the camera, serves the socket, broadcasts state changes
+
+Usage: obsbot4linux daemon [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux watch --help
+Stream state events as JSON lines and forward JSON requests from stdin (for widgets)
+
+Usage: obsbot4linux watch [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux live-pose --help
+Ask the daemon to poll the gimbal pose for this connection (a `watch` request; the daemon polls it every second only while a connection wants it). Not usable as a one-off call
+
+Usage: obsbot4linux live-pose [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux detect --help
+Exit 0 and print the model (--json: model and video device) when a supported camera is connected, exit 1 with no output when not. Enumeration only: no daemon, no camera command
+
+Usage: obsbot4linux detect [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux status --help
+Show all settings (the camera's status block, tracking readback, zoom, image controls, remembered state)
+
+Usage: obsbot4linux status [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux sleep --help
+Put the camera to sleep
+
+Usage: obsbot4linux sleep [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux wake --help
+Wake the camera, or set the stored wake-up zoom (`wake zoom`) or the tracking mode at power-on (`wake mode`)
+
+Usage: obsbot4linux wake [OPTIONS] [COMMAND]
+
+Commands:
+  zoom  Stored wake-up zoom, factor 1.0-4.0 (the camera stores 0-100 percent). Effect unknown on the Tiny 2 Lite: no change at power-on or on waking from sleep
+  mode  Tracking mode the camera starts in at power-on, not on waking from sleep (the current mode stays)
+  help  Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux wake zoom --help
+Stored wake-up zoom, factor 1.0-4.0 (the camera stores 0-100 percent). Effect unknown on the Tiny 2 Lite: no change at power-on or on waking from sleep
+
+Usage: obsbot4linux wake zoom [OPTIONS] <FACTOR>
+
+Arguments:
+  <FACTOR>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux wake mode --help
+Tracking mode the camera starts in at power-on, not on waking from sleep (the current mode stays)
+
+Usage: obsbot4linux wake mode [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: static, normal, upper-body, close-up, headless, lower-body, hand, group]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux tracking --help
+AI tracking mode
+
+Usage: obsbot4linux tracking [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: static, normal, upper-body, close-up, headless, lower-body, hand, group]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux speed --help
+Tracking type: standard, sport (fixed fast gain) or headroom (more room above the head)
+
+Usage: obsbot4linux speed [OPTIONS] <SPEED>
+
+Arguments:
+  <SPEED>  [possible values: standard, headroom, sport]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux speed-mode --help
+Fine tracking speed, from lazy to very-fast, or auto. Ignored while `speed sport` is set or the part mode is not normal
+
+Usage: obsbot4linux speed-mode [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: lazy, slow, normal, fast, very-fast, auto]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux framing --help
+Framing options of the human tracking; an AI mode change overwrites them
+
+Usage: obsbot4linux framing [OPTIONS] <COMMAND>
+
+Commands:
+  auto-zoom   Auto zoom of the human tracking on or off
+  size        Size of the auto zoom framing
+  zoom-speed  How fast the auto zoom follows
+  offset      Shift the framing by a fraction of the frame, -0.16 to 0.16
+  part        Which part of the body the framing follows
+  help        Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux framing auto-zoom --help
+Auto zoom of the human tracking on or off
+
+Usage: obsbot4linux framing auto-zoom [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux framing size --help
+Size of the auto zoom framing
+
+Usage: obsbot4linux framing size [OPTIONS] <SIZE>
+
+Arguments:
+  <SIZE>  [possible values: long-shot, medium-long-shot, medium-shot, medium-close-up, close-up, big-close-up]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux framing zoom-speed --help
+How fast the auto zoom follows
+
+Usage: obsbot4linux framing zoom-speed [OPTIONS] <SPEED>
+
+Arguments:
+  <SPEED>  [possible values: slow, medium, fast]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux framing offset --help
+Shift the framing by a fraction of the frame, -0.16 to 0.16
+
+Usage: obsbot4linux framing offset [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --x <X>   
+      --direct  Do not use a running daemon; talk to the camera directly
+      --y <Y>   
+  -h, --help    Print help
+=== obsbot4linux framing part --help
+Which part of the body the framing follows
+
+Usage: obsbot4linux framing part [OPTIONS] <PART>
+
+Arguments:
+  <PART>  [possible values: normal, head-removal, lower-body]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hdr --help
+HDR
+
+Usage: obsbot4linux hdr [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux exposure --help
+Exposure: automatic metering over the whole picture (global) or on faces (face), or manual, optionally with the shutter time and gain (`image gain` sets the gain too; `image exposure_time` is refused unless the exposure is already manual)
+
+Usage: obsbot4linux exposure [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: global, face, manual]
+
+Options:
+      --json         Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --time <TIME>  Manual only: shutter time in 100 us units, 1-2500 (330 is one frame at 30 fps); the camera uses the step at or below it
+      --direct       Do not use a running daemon; talk to the camera directly
+      --gain <GAIN>  Manual only: gain 1-64 (ISO is gain x 100)
+  -h, --help         Print help
+=== obsbot4linux zoom --help
+Zoom factor 1.0-4.0; with --speed the camera zooms smoothly instead of jumping
+
+Usage: obsbot4linux zoom [OPTIONS] [FACTOR]
+       obsbot4linux zoom <COMMAND>
+
+Commands:
+  stop  Stop a zoom in progress
+  help  Print this message or the help of the given subcommand(s)
+
+Arguments:
+  [FACTOR]  
+
+Options:
+      --json           Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --speed <SPEED>  Zoom speed (OBSBOT Center uses 30; the auto zoom 10, 30, 50)
+      --direct         Do not use a running daemon; talk to the camera directly
+  -h, --help           Print help
+=== obsbot4linux zoom stop --help
+Stop a zoom in progress
+
+Usage: obsbot4linux zoom stop [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gimbal --help
+Move the gimbal to an absolute pose in degrees (switches tracking to static first), or `gimbal stop|rate`
+
+Usage: obsbot4linux gimbal [OPTIONS]
+       obsbot4linux gimbal <COMMAND>
+
+Commands:
+  stop  Stop all gimbal axes (also a `gimbal rate` still running)
+  rate  Keep turning at a speed in degrees per second (up to 178) UNTIL `gimbal stop` or a speed of 0, also when the client is gone; like the joystick of OBSBOT Center (switches tracking to static first). An axis you leave out is stopped: `--pan 5` alone also stops a running tilt turn
+  help  Print this message or the help of the given subcommand(s)
+
+Options:
+      --json           Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --pan <PAN>      Positive turns the camera to its left
+      --direct         Do not use a running daemon; talk to the camera directly
+      --tilt <TILT>    Positive tilts the camera up
+      --speed <SPEED>  Take as long as this many degrees per second (1-180) need instead of going as fast as possible
+  -h, --help           Print help
+=== obsbot4linux gimbal stop --help
+Stop all gimbal axes (also a `gimbal rate` still running)
+
+Usage: obsbot4linux gimbal stop [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gimbal rate --help
+Keep turning at a speed in degrees per second (up to 178) UNTIL `gimbal stop` or a speed of 0, also when the client is gone; like the joystick of OBSBOT Center (switches tracking to static first). An axis you leave out is stopped: `--pan 5` alone also stops a running tilt turn
+
+Usage: obsbot4linux gimbal rate [OPTIONS]
+
+Options:
+      --json         Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --pan <PAN>    Positive turns the camera to its left
+      --direct       Do not use a running daemon; talk to the camera directly
+      --tilt <TILT>  Positive tilts the camera up
+  -h, --help         Print help
+=== obsbot4linux fov --help
+Field of view (ignored by the camera while it sleeps)
+
+Usage: obsbot4linux fov [OPTIONS] <FOV>
+
+Arguments:
+  <FOV>  [possible values: wide, medium, narrow]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux led --help
+Status LED: brightness 0 (off) to 3, or `led blink on|off`
+
+Usage: obsbot4linux led [OPTIONS] [BRIGHTNESS]
+       obsbot4linux led <COMMAND>
+
+Commands:
+  blink  Let the status LED blink (on) or burn steadily (off). The camera does not report it
+  help   Print this message or the help of the given subcommand(s)
+
+Arguments:
+  [BRIGHTNESS]  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux led blink --help
+Let the status LED blink (on) or burn steadily (off). The camera does not report it
+
+Usage: obsbot4linux led blink [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux mirror --help
+Mirror the image
+
+Usage: obsbot4linux mirror [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux invert --help
+Invert view and gimbal (reverses the gimbal's pan direction)
+
+Usage: obsbot4linux invert [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux auto-sleep --help
+Auto-sleep: "off" or a time in seconds
+
+Usage: obsbot4linux auto-sleep [OPTIONS] <TIME>
+
+Arguments:
+  <TIME>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux sleep-background --help
+Picture shown while the camera sleeps
+
+Usage: obsbot4linux sleep-background [OPTIONS] <BACKGROUND>
+
+Arguments:
+  <BACKGROUND>  [possible values: black, image]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux sleep-background-mirror --help
+Mirror the sleep background
+
+Usage: obsbot4linux sleep-background-mirror [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio --help
+Microphone settings
+
+Usage: obsbot4linux audio [OPTIONS] <COMMAND>
+
+Commands:
+  noise      Microphone noise reduction
+  gain       Automatic gain
+  distance   Pickup distance
+  volume     Microphone volume 0-100 (below 50 reads as near, 50-84 standard, from 85 far)
+  sleep-mic  Keep the microphone on while the camera sleeps
+  mic        Microphone on/off; every change makes the camera restart (about 18 s)
+  help       Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio noise --help
+Microphone noise reduction
+
+Usage: obsbot4linux audio noise [OPTIONS] <LEVEL>
+
+Arguments:
+  <LEVEL>  [possible values: off, weak, medium, strong]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio gain --help
+Automatic gain
+
+Usage: obsbot4linux audio gain [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio distance --help
+Pickup distance
+
+Usage: obsbot4linux audio distance [OPTIONS] <DISTANCE>
+
+Arguments:
+  <DISTANCE>  [possible values: near, standard, far]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio volume --help
+Microphone volume 0-100 (below 50 reads as near, 50-84 standard, from 85 far)
+
+Usage: obsbot4linux audio volume [OPTIONS] <VOLUME>
+
+Arguments:
+  <VOLUME>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio sleep-mic --help
+Keep the microphone on while the camera sleeps
+
+Usage: obsbot4linux audio sleep-mic [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux audio mic --help
+Microphone on/off; every change makes the camera restart (about 18 s)
+
+Usage: obsbot4linux audio mic [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gesture --help
+Gesture control
+
+Usage: obsbot4linux gesture [OPTIONS] <COMMAND>
+
+Commands:
+  set         Switch one gesture on or off
+  zoom-ratio  Zoom ratio of the zoom gestures, 1.0-4.0
+  help        Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gesture set --help
+Switch one gesture on or off
+
+Usage: obsbot4linux gesture set [OPTIONS] <GESTURE> <STATE>
+
+Arguments:
+  <GESTURE>  [possible values: target-lock, zoom, dynamic-zoom, direction-change]
+  <STATE>    [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gesture zoom-ratio --help
+Zoom ratio of the zoom gestures, 1.0-4.0
+
+Usage: obsbot4linux gesture zoom-ratio [OPTIONS] <RATIO>
+
+Arguments:
+  <RATIO>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand --help
+Hand tracking: which hand, return position, area, axes
+
+Usage: obsbot4linux hand [OPTIONS] <COMMAND>
+
+Commands:
+  right         Track the right hand
+  left          Track the left hand
+  return-here   Take the current camera pose as the position the camera returns to after the hand leaves
+  return-go     Move the camera to the hand-tracking return position
+  return-reset  Clear the hand-tracking return position
+  area          Area the hand is tracked in, in degrees. The camera's default: --pan -45 45 --tilt -30 30
+  area-reset    Set the hand tracking area back to the camera's default
+  pan           Whether the hand tracker may pan (off: the pan axis stays where it is)
+  tilt          Whether the hand tracker may tilt (off: the tilt axis stays where it is)
+  return-after  Seconds the hand may stay outside the area before the camera returns to the return position
+  gimbal        Whether the hand tracker may move the gimbal at all (off stops it; the camera does not keep this setting)
+  help          Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand right --help
+Track the right hand
+
+Usage: obsbot4linux hand right [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand left --help
+Track the left hand
+
+Usage: obsbot4linux hand left [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand return-here --help
+Take the current camera pose as the position the camera returns to after the hand leaves
+
+Usage: obsbot4linux hand return-here [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand return-go --help
+Move the camera to the hand-tracking return position
+
+Usage: obsbot4linux hand return-go [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand return-reset --help
+Clear the hand-tracking return position
+
+Usage: obsbot4linux hand return-reset [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand area --help
+Area the hand is tracked in, in degrees. The camera's default: --pan -45 45 --tilt -30 30
+
+Usage: obsbot4linux hand area [OPTIONS] --pan <MIN> <MAX> --tilt <MIN> <MAX>
+
+Options:
+      --json              Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --pan <MIN> <MAX>   Pan range, MIN MAX, positive = camera left (-150..150)
+      --direct            Do not use a running daemon; talk to the camera directly
+      --tilt <MIN> <MAX>  Tilt range, MIN MAX, positive = up (-70..90)
+  -h, --help              Print help
+=== obsbot4linux hand area-reset --help
+Set the hand tracking area back to the camera's default
+
+Usage: obsbot4linux hand area-reset [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand pan --help
+Whether the hand tracker may pan (off: the pan axis stays where it is)
+
+Usage: obsbot4linux hand pan [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand tilt --help
+Whether the hand tracker may tilt (off: the tilt axis stays where it is)
+
+Usage: obsbot4linux hand tilt [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand return-after --help
+Seconds the hand may stay outside the area before the camera returns to the return position
+
+Usage: obsbot4linux hand return-after [OPTIONS] <SECONDS>
+
+Arguments:
+  <SECONDS>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux hand gimbal --help
+Whether the hand tracker may move the gimbal at all (off stops it; the camera does not keep this setting)
+
+Usage: obsbot4linux hand gimbal [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone --help
+Zone tracking
+
+Usage: obsbot4linux zone [OPTIONS] <COMMAND>
+
+Commands:
+  on           
+  off          
+  follow       Automatically follow new targets
+  area         Area the zone tracking stays in, in degrees. Full area: --pan -150 150 --tilt -70 90
+  return-here  Take the current camera pose as the position the zone tracking returns to
+  return-go    Move the camera to the zone return position
+  view         Named poses stored in the camera ("zone views"); the camera does not track by them
+  help         Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone on --help
+Usage: obsbot4linux zone on [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone off --help
+Usage: obsbot4linux zone off [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone follow --help
+Automatically follow new targets
+
+Usage: obsbot4linux zone follow [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone area --help
+Area the zone tracking stays in, in degrees. Full area: --pan -150 150 --tilt -70 90
+
+Usage: obsbot4linux zone area [OPTIONS] --pan <MIN> <MAX> --tilt <MIN> <MAX>
+
+Options:
+      --json              Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --pan <MIN> <MAX>   Pan range, MIN MAX, positive = camera left (-150..150)
+      --direct            Do not use a running daemon; talk to the camera directly
+      --tilt <MIN> <MAX>  Tilt range, MIN MAX, positive = up (-70..90)
+  -h, --help              Print help
+=== obsbot4linux zone return-here --help
+Take the current camera pose as the position the zone tracking returns to
+
+Usage: obsbot4linux zone return-here [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone return-go --help
+Move the camera to the zone return position
+
+Usage: obsbot4linux zone return-go [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone view --help
+Named poses stored in the camera ("zone views"); the camera does not track by them
+
+Usage: obsbot4linux zone view [OPTIONS] <COMMAND>
+
+Commands:
+  list    List the views
+  save    Store a view under the lowest free id; without --pan/--tilt/--zoom the current pose is used
+  rename  Rename a view (printable ASCII, up to 32 characters)
+  delete  Delete a view
+  go      Move the camera to a view
+  help    Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone view list --help
+List the views
+
+Usage: obsbot4linux zone view list [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone view save --help
+Store a view under the lowest free id; without --pan/--tilt/--zoom the current pose is used
+
+Usage: obsbot4linux zone view save [OPTIONS] <NAME>
+
+Arguments:
+  <NAME>  
+
+Options:
+      --json         Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --pan <PAN>    
+      --direct       Do not use a running daemon; talk to the camera directly
+      --tilt <TILT>  
+      --zoom <ZOOM>  
+  -h, --help         Print help
+=== obsbot4linux zone view rename --help
+Rename a view (printable ASCII, up to 32 characters)
+
+Usage: obsbot4linux zone view rename [OPTIONS] <ID> <NAME>
+
+Arguments:
+  <ID>    
+  <NAME>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone view delete --help
+Delete a view
+
+Usage: obsbot4linux zone view delete [OPTIONS] <ID>
+
+Arguments:
+  <ID>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux zone view go --help
+Move the camera to a view
+
+Usage: obsbot4linux zone view go [OPTIONS] <ID>
+
+Arguments:
+  <ID>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus --help
+Focus: autofocus mode, continuous autofocus, manual focus
+
+Usage: obsbot4linux focus [OPTIONS] <COMMAND>
+
+Commands:
+  mode   Autofocus mode
+  auto   Continuous autofocus on/off
+  af     The camera's own autofocus mode: continuous, single (focus once and hold) or manual
+  point  Focus once on a point: x and y from 0.0 to 1.0, from the top left of the picture
+  set    Manual focus 0-100 (turns autofocus off)
+  help   Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus mode --help
+Autofocus mode
+
+Usage: obsbot4linux focus mode [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: face, global]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus auto --help
+Continuous autofocus on/off
+
+Usage: obsbot4linux focus auto [OPTIONS] <STATE>
+
+Arguments:
+  <STATE>  [possible values: on, off]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus af --help
+The camera's own autofocus mode: continuous, single (focus once and hold) or manual
+
+Usage: obsbot4linux focus af [OPTIONS] <MODE>
+
+Arguments:
+  <MODE>  [possible values: continuous, single, manual]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus point --help
+Focus once on a point: x and y from 0.0 to 1.0, from the top left of the picture
+
+Usage: obsbot4linux focus point [OPTIONS] <X> <Y>
+
+Arguments:
+  <X>  
+  <Y>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux focus set --help
+Manual focus 0-100 (turns autofocus off)
+
+Usage: obsbot4linux focus set [OPTIONS] <VALUE>
+
+Arguments:
+  <VALUE>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux startup --help
+Initial state: the pose the camera moves to when it powers on
+
+Usage: obsbot4linux startup [OPTIONS] <COMMAND>
+
+Commands:
+  set   Set the start pose: --pan/--tilt/--zoom, or --preset <slot>, or --current. There is no way known to clear it; pan 0, tilt 0, zoom 1 is the neutral start
+  show  Show the start pose and the picture settings of the initial state
+  go    Move the camera to the start pose now (the pose it takes at power-on)
+  help  Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux startup set --help
+Set the start pose: --pan/--tilt/--zoom, or --preset <slot>, or --current. There is no way known to clear it; pan 0, tilt 0, zoom 1 is the neutral start
+
+Usage: obsbot4linux startup set [OPTIONS]
+
+Options:
+      --json
+          Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+
+      --pan <PAN>
+          Positive turns the camera to its left
+
+      --direct
+          Do not use a running daemon; talk to the camera directly
+
+      --tilt <TILT>
+          Positive tilts the camera up
+
+      --zoom <ZOOM>
+          
+
+      --preset <PRESET>
+          Use the pose of a stored preset (slot as in "preset list", 0-2)
+
+      --current
+          Use the current pose (remembered gimbal pose, live zoom)
+
+      --ai <AI>
+          AI mode of the initial state (the camera tracks in it again after "startup go" and powers on in it). Kept as it is when not given; "none" clears it, and then "startup go" leaves tracking suspended. Alone, it leaves the pose untouched
+
+          Possible values:
+          - static
+          - normal
+          - upper-body
+          - headless
+          - group
+          - none:       Not set (the camera's own default): `startup go` leaves tracking suspended
+
+  -h, --help
+          Print help (see a summary with '-h')
+=== obsbot4linux startup show --help
+Show the start pose and the picture settings of the initial state
+
+Usage: obsbot4linux startup show [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux startup go --help
+Move the camera to the start pose now (the pose it takes at power-on)
+
+Usage: obsbot4linux startup go [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux image --help
+UVC image control, e.g. "image brightness 128" (names are in "status")
+
+Usage: obsbot4linux image [OPTIONS] <CONTROL> <VALUE>
+
+Arguments:
+  <CONTROL>  
+  <VALUE>    
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux preset --help
+Presets stored in the camera (slots 0-2)
+
+Usage: obsbot4linux preset [OPTIONS] <COMMAND>
+
+Commands:
+  list    List the presets
+  save    Save a pose to a slot; without --pan/--tilt/--zoom the current pose is used (the last gimbal pose obsbot4linux sent, else the one V4L2 last set; live zoom)
+  rename  Rename a preset (printable ASCII, up to 32 characters)
+  delete  Delete a preset
+  recall  Move the camera to a preset
+  help    Print this message or the help of the given subcommand(s)
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux preset list --help
+List the presets
+
+Usage: obsbot4linux preset list [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux preset save --help
+Save a pose to a slot; without --pan/--tilt/--zoom the current pose is used (the last gimbal pose obsbot4linux sent, else the one V4L2 last set; live zoom)
+
+Usage: obsbot4linux preset save [OPTIONS] <SLOT>
+
+Arguments:
+  <SLOT>  
+
+Options:
+      --json         Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --name <NAME>  
+      --direct       Do not use a running daemon; talk to the camera directly
+      --pan <PAN>    
+      --tilt <TILT>  
+      --zoom <ZOOM>  
+  -h, --help         Print help
+=== obsbot4linux preset rename --help
+Rename a preset (printable ASCII, up to 32 characters)
+
+Usage: obsbot4linux preset rename [OPTIONS] <SLOT> <NAME>
+
+Arguments:
+  <SLOT>  
+  <NAME>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux preset delete --help
+Delete a preset
+
+Usage: obsbot4linux preset delete [OPTIONS] <SLOT>
+
+Arguments:
+  <SLOT>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux preset recall --help
+Move the camera to a preset
+
+Usage: obsbot4linux preset recall [OPTIONS] <SLOT>
+
+Arguments:
+  <SLOT>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux factory-reset --help
+Reset the camera to factory settings (it restarts and deletes its presets)
+
+Usage: obsbot4linux factory-reset [OPTIONS]
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --yes     
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
+=== obsbot4linux gimbal center --help
+Turn the gimbal so that a point of the picture moves to its centre: x and y from 0.0 to 1.0, from the top left (switches tracking to static first)
+
+Usage: obsbot4linux gimbal center [OPTIONS] <X> <Y>
+
+Arguments:
+  <X>  
+  <Y>  
+
+Options:
+      --json    Print machine-readable JSON (errors too, as {"ok":false,"error":...})
+      --direct  Do not use a running daemon; talk to the camera directly
+  -h, --help    Print help
diff --git a/packaging/contents.txt b/packaging/contents.txt
new file mode 100644
index 0000000..96bd675
--- /dev/null
+++ b/packaging/contents.txt
@@ -0,0 +1,94 @@
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .BUILDINFO
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .BUILDINFO
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .MTREE
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .MTREE
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .PKGINFO
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- .PKGINFO
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/doc/obsbot4linux/README.md
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/doc/obsbot4linux/README.md
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/licenses/obsbot4linux/LICENSE
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rw-r--r-- usr/share/licenses/obsbot4linux/LICENSE
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rwxr-xr-x usr/bin/obsbot4linux
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst -rwxr-xr-x usr/bin/obsbot4linux
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/bin/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/bin/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/systemd/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/systemd/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/systemd/user/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/lib/systemd/user/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/doc/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/doc/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/doc/obsbot4linux/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/doc/obsbot4linux/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/licenses/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/licenses/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/licenses/obsbot4linux/
+obsbot4linux-VERSION-1-ARCH.pkg.tar.zst drwxr-xr-x usr/share/licenses/obsbot4linux/
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/doc/obsbot4linux/README.md
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/doc/obsbot4linux/README.md
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/licenses/obsbot4linux/LICENSE
+obsbot4linux-VERSION-1.ARCH.rpm -rw-r--r-- ./usr/share/licenses/obsbot4linux/LICENSE
+obsbot4linux-VERSION-1.ARCH.rpm -rwxr-xr-x ./usr/bin/obsbot4linux
+obsbot4linux-VERSION-1.ARCH.rpm -rwxr-xr-x ./usr/bin/obsbot4linux
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/CHANGELOG.md
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/CHANGELOG.md
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/LICENSE
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/LICENSE
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/README.md
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/README.md
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/systemd/obsbot4linux.service
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/systemd/obsbot4linux.service
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/systemd/obsbot4linux.socket
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rw-r--r-- obsbot4linux-VERSION-ARCH-linux/systemd/obsbot4linux.socket
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rwxr-xr-x obsbot4linux-VERSION-ARCH-linux/obsbot4linux
+obsbot4linux-VERSION-ARCH-linux.tar.gz -rwxr-xr-x obsbot4linux-VERSION-ARCH-linux/obsbot4linux
+obsbot4linux-VERSION-ARCH-linux.tar.gz drwxr-xr-x obsbot4linux-VERSION-ARCH-linux/
+obsbot4linux-VERSION-ARCH-linux.tar.gz drwxr-xr-x obsbot4linux-VERSION-ARCH-linux/
+obsbot4linux-VERSION-ARCH-linux.tar.gz drwxr-xr-x obsbot4linux-VERSION-ARCH-linux/systemd/
+obsbot4linux-VERSION-ARCH-linux.tar.gz drwxr-xr-x obsbot4linux-VERSION-ARCH-linux/systemd/
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.service
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/lib/systemd/user/obsbot4linux.socket
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/CHANGELOG.md
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/README.md
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/README.md
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/copyright
+obsbot4linux_VERSION_ARCH.deb -rw-r--r-- ./usr/share/doc/obsbot4linux/copyright
+obsbot4linux_VERSION_ARCH.deb -rwxr-xr-x ./usr/bin/obsbot4linux
+obsbot4linux_VERSION_ARCH.deb -rwxr-xr-x ./usr/bin/obsbot4linux
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/bin/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/bin/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/systemd/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/systemd/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/systemd/user/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/lib/systemd/user/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/doc/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/doc/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/doc/obsbot4linux/
+obsbot4linux_VERSION_ARCH.deb drwxr-xr-x ./usr/share/doc/obsbot4linux/
diff --git a/scripts/groundwork/move-check.sh b/scripts/groundwork/move-check.sh
new file mode 100755
index 0000000..d131bec
--- /dev/null
+++ b/scripts/groundwork/move-check.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+# SPDX-License-Identifier: GPL-3.0-or-later
+#
+# Move check of the groundwork stage. Prints the lines of Rust code that differ between two
+# commits, compared as a multiset: the file a line is in and the order of lines do not count,
+# and `use` statements, `mod name;` declarations, `pub(crate)` / `pub(super)`, indentation and
+# blank lines are set aside. A pure move prints only the structural lines its task lists.
+# Usage: scripts/move-check.sh OLD_REV [NEW_REV]    (NEW_REV defaults to HEAD)
+set -euo pipefail
+old=${1:?usage: move-check.sh OLD_REV [NEW_REV]}
+new=${2:-HEAD}
+
+lines() {
+  git ls-tree -r --name-only "$1" | grep '\.rs$' | while read -r f; do
+    git show "$1:$f"
+  done | awk '
+    in_use { if (/;[[:space:]]*$/) in_use = 0; next }
+    /^[[:space:]]*(pub(\([a-z]+\))? )?use / { if (!/;[[:space:]]*$/) in_use = 1; next }
+    /^[[:space:]]*(pub(\([a-z]+\))? )?mod [a-z0-9_]+;[[:space:]]*$/ { next }
+    /^[[:space:]]*$/ { next }
+    { sub(/^[[:space:]]+/, ""); sub(/^pub\((crate|super)\) /, ""); print }
+  ' | LC_ALL=C sort
+}
+
+diff <(lines "$old") <(lines "$new") | grep '^[<>]' || true
diff --git a/scripts/groundwork/split-device.py b/scripts/groundwork/split-device.py
new file mode 100644
index 0000000..0baf9cc
--- /dev/null
+++ b/scripts/groundwork/split-device.py
@@ -0,0 +1,105 @@
+# SPDX-License-Identifier: GPL-3.0-or-later
+"""Splits crates/obsbot-device/src/transport/uvc.rs (the 0.13 device.rs, moved there with git
+mv) into uvc.rs (the device and its ioctls) and enumeration.rs (finding the camera). Every
+block is copied unchanged. Run from the repository root:
+python3 -I scripts/groundwork/split-device.py"""
+
+D = "crates/obsbot-device/src"
+UVC = D + "/transport/uvc.rs"
+L = open(UVC).read().split("\n")
+
+# (line, text the line starts with) in device.rs as on main 66287b5
+ANCHORS = {
+    12: "use crate::error::{Error, Result};",
+    13: "use crate::registry::{self, Model};",
+    16: "use nix::{ioctl_read, ioctl_readwrite};",
+    17: "use std::fs::{self, File};",
+    19: "use std::path::PathBuf;",
+    32: "const V4L2_CAP_META_CAPTURE",
+    44: "#[repr(C)]",
+    46: "struct V4l2Capability",
+    54: "}",
+    78: "ioctl_read!(vidioc_querycap",
+    92: "/// A camera found by enumeration",
+    99: "}",
+    122: "fn card_name",
+    134: "}",
+    136: "/// Finds a supported camera",
+    172: "}",
+    174: "/// The first supported camera",
+    182: "}",
+    276: "#[cfg(test)]",
+    278: "    use super::*;",
+    312: "    #[test]",
+    313: "    fn by_id_detection_does_not_depend_on_directory_order",
+    325: "    }",
+    326: "}",
+}
+for n, start in ANCHORS.items():
+    assert L[n - 1].startswith(start), f"device.rs line {n}: {L[n - 1]!r}"
+assert len(L) == 327 and L[326] == "", "device.rs must have 326 lines"
+
+MOVED = [
+    (32, 32),
+    (44, 54),
+    (78, 78),
+    (92, 99),
+    (122, 134),
+    (136, 172),
+    (174, 182),
+    (312, 325),
+]
+
+
+def R(a, b):
+    return L[a - 1 : b]
+
+
+enumeration = [
+    "// SPDX-License-Identifier: GPL-3.0-or-later",
+    "// Derived from Tiny4Linux (EUPL-1.2), used under EUPL-1.2 Article 5.",
+    "",
+    "//! Finding a supported camera without talking to it: `/dev/v4l/by-id` links first, the V4L2",
+    "//! card name as fallback.",
+    "",
+    "use crate::registry::{self, Model};",
+    "use nix::ioctl_read;",
+    "use std::fs::{self, File};",
+    "use std::os::fd::AsRawFd;",
+    "use std::path::PathBuf;",
+]
+for a, b in MOVED[:-1]:
+    enumeration += [""] + R(a, b)
+enumeration += (
+    ["", "#[cfg(test)]", "mod tests {", "    use super::*;", ""]
+    + R(312, 325)
+    + ["}", ""]
+)
+open(D + "/enumeration.rs", "w").write("\n".join(enumeration))
+
+drop = set()
+for a, b in MOVED:
+    drop.update(range(a, b + 1))
+drop.add(311)  # the blank line before the moved test
+uvc = [line for n, line in enumerate(L, 1) if n not in drop]
+text = "\n".join(uvc)
+old_uses = (
+    "use crate::error::{Error, Result};\nuse crate::registry::{self, Model};\n"
+    "use nix::errno::Errno;\nuse nix::fcntl::{Flock, FlockArg};\n"
+    "use nix::{ioctl_read, ioctl_readwrite};\nuse std::fs::{self, File};\n"
+    "use std::os::fd::AsRawFd;\nuse std::path::PathBuf;\n"
+)
+new_uses = (
+    "use crate::enumeration::{Detected, detect};\nuse crate::error::{Error, Result};\n"
+    "use nix::errno::Errno;\nuse nix::fcntl::{Flock, FlockArg};\nuse nix::ioctl_readwrite;\n"
+    "use std::fs::File;\nuse std::os::fd::AsRawFd;\n"
+)
+assert text.count(old_uses) == 1
+text = text.replace(old_uses, new_uses)
+# the remaining tests of uvc.rs remove their lock file with fs::remove_file
+assert text.count("mod tests {\n    use super::*;\n") == 1
+text = text.replace(
+    "mod tests {\n    use super::*;\n",
+    "mod tests {\n    use super::*;\n    use std::fs;\n",
+)
+open(UVC, "w").write(text)
diff --git a/scripts/groundwork/test-names.sh b/scripts/groundwork/test-names.sh
new file mode 100755
index 0000000..fd0c97c
--- /dev/null
+++ b/scripts/groundwork/test-names.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+# SPDX-License-Identifier: GPL-3.0-or-later
+#
+# Test-name guard of the groundwork stage. Lists the tests of a commit by the last two parts of
+# their path (module and name, which a move keeps), sorted. Run it for the base and the head of
+# a pull request and compare the two lists: a pure move changes no line.
+# Usage: scripts/groundwork/test-names.sh REV > names.txt
+set -euo pipefail
+rev=${1:?usage: test-names.sh REV}
+work=$(mktemp -d)
+trap 'rm -rf "$work"' EXIT
+git archive "$rev" | tar -x -C "$work"
+cd "$work"
+CARGO_TARGET_DIR=${CARGO_TARGET_DIR:-$work/target} nice -n 19 \
+  cargo test --workspace --locked -q -j 3 -- --list --format terse 2>/dev/null |
+  awk -F': ' '$2 == "test" { n = split($1, p, "::"); print (n > 1 ? p[n - 1] "::" : "") p[n] }' |
+  LC_ALL=C sort
diff --git a/scripts/package-contents.sh b/scripts/package-contents.sh
new file mode 100755
index 0000000..a4cef16
--- /dev/null
+++ b/scripts/package-contents.sh
@@ -0,0 +1,19 @@
+#!/bin/sh
+# SPDX-License-Identifier: GPL-3.0-or-later
+#
+# Lists the files of every package a release build made: one line per entry, "<package>
+# <mode> <path>", sorted, with the version replaced by VERSION and the architecture by ARCH,
+# so that two builds can be compared. The release workflow compares the list with
+# packaging/contents.txt. Needs bsdtar (libarchive).
+# Usage: scripts/package-contents.sh DIR X.Y.Z    (DIR holds the obsbot4linux* packages)
+set -eu
+dir=${1:?usage: package-contents.sh DIR X.Y.Z}
+ver=${2:?usage: package-contents.sh DIR X.Y.Z}
+
+find "$dir" -type f -name 'obsbot4linux*' | while read -r pkg; do
+  name=$(basename "$pkg")
+  case $name in
+  *.deb) bsdtar -xOf "$pkg" 'data.tar*' | bsdtar -tvf - ;;
+  *) bsdtar -tvf "$pkg" ;;
+  esac | awk -v p="$name" '{ print p, $1, $NF }'
+done | sed -e "s/$ver/VERSION/g" -e 's/x86_64\|aarch64\|amd64\|arm64/ARCH/g' | LC_ALL=C sort
diff --git a/src/lib.rs b/src/lib.rs
deleted file mode 100644
index 06703ee..0000000
--- a/src/lib.rs
+++ /dev/null
@@ -1,14 +0,0 @@
-// SPDX-License-Identifier: GPL-3.0-or-later
-
-//! Control library for the OBSBOT Tiny 2 Lite.
-
-pub mod camera;
-pub mod commands;
-pub mod device;
-pub mod error;
-pub mod frame;
-pub mod models;
-pub mod presets;
-pub mod state;
-pub mod status;
-pub mod streaming;