Switch DoA to AUDIO_MGR_SELECTED_AZIMUTHS (auto-select beam)

DOA_VALUE on GPO resource was sluggish/cached. The beamformer-level
AUDIO_MGR_SELECTED_AZIMUTHS on resource 35 tracks the active speaker
in real time. Falls back to simple DOA_VALUE when both azimuths are NaN.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

xvf3800.py

@@ -33,8 +33,15 @@ GPO_RESID = 20
 
 # Command IDs (wValue in USB control transfer)
 # Verified against official xvf_host.py WriteCMD output
-DOA_VALUE_CMD     = 18  # returns (angle 0-359, vad 0/1)
+DOA_VALUE_CMD     = 18  # returns (angle 0-359, vad 0/1) — simple, sluggish
 LED_EFFECT_CMD    = 12  # 0=off, 1=breath, 2=rainbow, 3=solid, 4=doa, 5=ring
+
+# AEC resource (resid=33) — beamformer-level commands, more responsive
+AEC_RESID = 33
+AEC_AZIMUTH_CMD           = 75   # 4 floats: beam1, beam2, free-running, auto-select (radians)
+AEC_SPENERGY_CMD          = 80   # 4 floats: speech energy per beam (>0 = speech)
+AUDIO_MGR_RESID           = 35
+AUDIO_MGR_SELECTED_AZ_CMD = 11   # 2 floats: processed DoA, auto-select DoA (radians)
 LED_BRIGHTNESS_CMD = 14
 LED_COLOR_CMD     = 16  # single uint32 color (confirmed: xvf_host LED_COLOR cmdid=16)
 LED_DOA_COLOR_CMD = 17  # two uint32 values: base + indicator
@@ -94,13 +101,35 @@ class XVF3800:
     # --- DoA ---
 
     def read_doa(self) -> tuple[int, bool]:
-        """Read Direction of Arrival. Returns (angle 0-359, vad True/False).
+        """Read Direction of Arrival using the auto-select beam azimuth.
-        Response format: 1 status byte + 2 uint16 words (angle, vad)."""
+        Returns (angle 0-359 degrees, vad True/False).
-        data = self._read_uint16(GPO_RESID, DOA_VALUE_CMD, 2)
+        Uses AUDIO_MGR_SELECTED_AZIMUTHS which tracks the active speaker."""
-        if len(data) < 5:
+        import math
+
+        # Read auto-select beam azimuth (2 floats: processed_doa, auto_select_doa)
+        data = self._read_float(AUDIO_MGR_RESID, AUDIO_MGR_SELECTED_AZ_CMD, 2)
+        if len(data) < 9:  # 1 status + 2*4 bytes
             return 0, False
-        angle, vad = struct.unpack_from("<HH", data, 1)  # skip status byte
+
-        return angle % 360, bool(vad)
+        processed_doa, auto_select_doa = struct.unpack_from("<ff", data, 1)
+
+        # Use auto-select beam (index 1), fall back to processed (index 0)
+        if not math.isnan(auto_select_doa):
+            angle_deg = math.degrees(auto_select_doa) % 360
+            vad = True
+        elif not math.isnan(processed_doa):
+            angle_deg = math.degrees(processed_doa) % 360
+            vad = True
+        else:
+            # Both NaN — no speech detected
+            # Fall back to simple DOA_VALUE
+            data2 = self._read_uint16(GPO_RESID, DOA_VALUE_CMD, 2)
+            if len(data2) >= 5:
+                angle, vad_flag = struct.unpack_from("<HH", data2, 1)
+                return angle % 360, bool(vad_flag)
+            return 0, False
+
+        return int(angle_deg) % 360, vad
 
     # --- LEDs ---