Run a Manta at its frame-rate limit, and wait for a DHT11's first reading

A free-running Manta runs at AcquisitionFrameRateAbs, not at its limit:
rietschen's RGB camera came set to 0.955 fps and delivered 5 frames in 5.2 s.
The gige recipe now writes a short fixed exposure and then the rate, clamped
to the camera's maximum (4.7 fps at 60 MB/s), before auto-exposure goes back
on. The export summary shows the rate set, not the limit, which had read
4.71 fps for a camera running at 0.96.

test hardware env asked for a DHT11 reading at once, but the firmware reads
it every 10 s, the first time 2 s after it starts. install-tower --verify
failed on rietschen 1.4 s into its run, 36 s after the same test had passed.
It now waits one read period for the first reading. Tests 542/542 (mock).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

docs/tower-installation.md

@@ -723,7 +723,7 @@ MTU 8000): RGB (G-1236C), NIR and ACR (both G-1236B). Their firmware
 | Program / Alvium | Manta |
 |---|---|
 | `ExposureTime` | `ExposureTimeAbs` |
-| `AcquisitionFrameRate` (+ `…Enable`) | `AcquisitionFrameRateAbs`, free-running at `AcquisitionFrameRateLimit` |
+| `AcquisitionFrameRate` (+ `…Enable`) | `AcquisitionFrameRateAbs` - which a free-running Manta runs at, up to `AcquisitionFrameRateLimit` |
 | `IntensityControllerTarget` / `…Tolerance` | `ExposureAutoTarget` / `ExposureAutoAdjustTol` |
 | `DeviceLinkThroughputLimit` | `StreamBytesPerSecond` (max 124 MB/s, shared by every camera on the port) |
 | `BayerRG12p`, chunk data, `DeviceReset` | none |
@@ -732,8 +732,9 @@ The program looks a missing feature up under its older name, so `test camera`
 and the telemetry work. `export_camera_profile.py` picks its `gige` recipe by
 itself when a camera has `ExposureTimeAbs` and no `ExposureTime`: frame trigger
 off (the legacy cameras booted with `TriggerMode = On`, `Line1`), `BayerRG8` on
-the colour camera and `Mono8` on a mono one, 60 MB/s each, and an auto-exposure
+the colour camera and `Mono8` on a mono one, 60 MB/s each, the frame rate at
-target of 50 %. That last one matters: the keep rule waits for the frame mean
+the camera's maximum (rietschen's RGB camera came set to 0.955 fps), and an
+auto-exposure target of 50 %. That last one matters: the keep rule waits for the frame mean
 to reach 50 %, and at the cameras' old 25 every waypoint ran into
 `frame_timeout_ms`.
 

scripts/export_camera_profile.py

@@ -143,6 +143,13 @@ _GIGE_COMMON = [
     ("Height",                     100000),
     ("PixelFormat",                ("BayerRG8", "Mono8")),
     ("StreamBytesPerSecond",       60000000),
+    # Free-running, a Manta still runs at AcquisitionFrameRateAbs, not at its
+    # limit: rietschen's RGB camera came with 0.955 and delivered 5 frames in
+    # 5.2 s. A short fixed exposure first, so the rate is not capped by the
+    # exposure the camera happens to hold, as in the Alvium recipe.
+    ("ExposureAuto",               "Off"),
+    ("ExposureTimeAbs",            1000.0),
+    ("AcquisitionFrameRateAbs",    1000.0),      # clamped to the camera's maximum
     ("ChunkModeActive",            False),
     # The keep rule waits for the frame mean to reach the camera's target. The
     # host starts on its default band of 50 % - rietschen's cameras were set to
@@ -290,14 +297,13 @@ def main():
                     refused.append(n)
 
             # What the settings actually cost per frame - the number that decides
-            # whether this profile can be delivered over the link at all. A
+            # whether this profile can be delivered over the link at all.
-            # free-running GigE camera reports its ceiling as the rate limit.
             try:
                 w = cam.get_feature_by_name("Width").get()
                 h = cam.get_feature_by_name("Height").get()
                 fmt = cam.get_feature_by_name("PixelFormat").get()
                 bpp = {"RGB8": 3, "BGR8": 3, "BayerRG12p": 1.5, "BayerRG12": 2}.get(str(fmt), 1)
-                rate_name = "AcquisitionFrameRateLimit" if family == "gige" else "AcquisitionFrameRate"
+                rate_name = "AcquisitionFrameRateAbs" if family == "gige" else "AcquisitionFrameRate"
                 rate = cam.get_feature_by_name(rate_name).get()
                 mb = w * h * bpp / 1e6
                 print(f"\nresult  : {w}x{h} {fmt}  {mb:.1f} MB/frame  "

src/core/TestRunner.cpp

@@ -1097,13 +1097,26 @@ void TestRunner::testHwEnv(TestReport& r) {
     }
 
     setProgress(s.id, 2, 2, "reading sensor");
+    std::optional<EnvSample> sample = hw_.env ? hw_.env->sample() : std::nullopt;
+    // The firmware reads its DHT11 every 10 s, the first time 2 s after it
+    // starts, so a run straight after the host connected may have no reading
+    // yet: install-tower --verify failed on rietschen 1.4 s into its run, 36 s
+    // after the same test had passed. Wait one read period before calling it
+    // missing.
+    if (hw_.env && !sample && on_mcu) {
+        const auto deadline = clock_t_::now() + 12s;
+        while (!sample && clock_t_::now() < deadline && !cancelled()) {
+            std::this_thread::sleep_for(200ms);
+            sample = hw_.env->sample();
+        }
+    }
     CheckResult m;
     if (!hw_.env) {
         m.pass   = false;
         m.detail = "declared as '" + hw_.declared->env +
                    "' but no sensor was built -- check [Env] i2c_device; the declaration itself is "
                    "what enables it";
-    } else if (auto sample = hw_.env->sample()) {
+    } else if (sample) {
         m.detail = "CRC-valid reading from " + hw_.env->name();
     } else if (on_mcu) {
         m.pass   = false;