# Overview

[Asimov Manager](https://github.com/asimovinc/asimov-manager) runs on the [Perception and Network Controller](../../hardware/specs/the-brains). It connects operators to the robot over the internet.

It does four things:

1. **Video streaming** - Capture from cameras, stream to operators via LiveKit
2. **Audio** - Stream mic to operators, play operator voice on speaker
3. **Teleop commands** - Receive commands from operators, forward to firmware
4. **State broadcast** - Get robot state from firmware, send to operators @ 50 Hz

```{mermaid}
flowchart TB
    subgraph internet["Internet"]
        livekit["LiveKit Server"]
    end
    subgraph pnc["Perception & Network Controller"]
        manager["Asimov Manager"]
        cameras["Cameras"]
        mic["Mic"]
        speaker["Speaker"]
    end
    subgraph mcb["Motion Control Board"]
        firmware["Asimov Firmware"]
    end
    subgraph operator["Operator"]
        browser["Browser/App"]
    end

    cameras --> manager
    mic --> manager
    manager --> speaker
    manager <-->|"WebRTC"| livekit
    livekit <-->|"WebRTC"| browser
    manager <-->|"UDP nanopb"| firmware
```

## Why Two Processes?

[Asimov Firmware](https://github.com/asimovinc/asimov-firmware) runs the real-time control loop. It talks to motors over CAN at 200 Hz. Adding network code would cause timing jitter.

[Asimov Manager](https://github.com/asimovinc/asimov-manager) handles all the network stuff: WebRTC, video encoding, connection management. Runs on a separate board.

They talk [nanopb](https://github.com/nanopb/nanopb) over UDP.

## Data Flow

| Data | Direction | Transport | Rate |
|------|-----------|-----------|------|
| Video | Robot → Operator | WebRTC video tracks | 30-50 fps |
| Audio (mic) | Robot → Operator | WebRTC audio track | 48 kHz |
| Audio (speaker) | Operator → Robot | WebRTC audio track | 48 kHz |
| Teleop commands | Operator → Robot | DataChannel (reliable) | On demand |
| Robot state | Robot → Operator | DataChannel (lossy) | 50 Hz |
| Motor commands | Manager → Firmware | UDP :8888 | On demand |
| Motor state | Firmware → Manager | UDP :8889 | 100 Hz |

## Source Files

| File | What it does |
|------|--------------|
| `main.c` | Entry point, 100 Hz main loop |
| `config/config.c` | YAML config parser |
| `control/control.c` | UDP to firmware, nanopb serialization |
| `media/publisher.c` | Video/audio capture, LiveKit streaming |
| `media/subscriber.c` | Audio playback, DataChannel commands |
| `teleop/teleop.c` | Command/state binary packing |