Both frames of a waypoint used to take the colour frame's time, which made
the thermal one look taken at a moment it was not: it is the newest frame the
camera had, up to max_frame_age_ms old. Each file and CamEvent now has the
time its own frame reached the host; the two of one waypoint share hdg/pit and
are at most that age apart. The docs say to pair them by that.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
The camera recalibrated against its shutter every 30 s and sent no frame for
about 0.7 s meanwhile: a picture falling into that had no thermal image (0.8 %
on tower 111, the 30 s rhythm shown by the new gap logging). The program now
switches the camera's timer off and runs the NUC itself (NUC_Perform, which
returns when it is done) when a move starts and nuc_interval_s (30) has passed,
or after twice that with no move. The scheduler tells the cameras of every move
(ICameraSource::moving), and a picture waits up to 1 s for a camera between
frames (frameReady) rather than go without it. The camera's own timer goes
back on exit; nuc_interval_s = 0 leaves it alone.
Measured on tower 111 before writing it: NUC_Interval = 0 gave 70 s without a
gap; NUC_Perform ran three NUCs of 657-677 ms; NUC_INPROGRESS never changes.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
- The thermal frame was numbered camera 0 - label RGB, and the colour file of
the same time overwritten - because Vimba counts no camera before open().
The composite now takes each source's configured camera count, and two
enabled cameras may no longer share a label.
- The SDK switches LC_NUMERIC to de_DE when loaded, which made "hotx":0,4336.
Its calls now run under a guard that restores the locale, and the JSON's
numbers no longer go through printf.
- The camera's frame counter is always 0: new frames are told by their time,
so the stream no longer stops after the first one.
- The LUT is empty for the first frame: it is asked again on later ones.
- The SDK is libirbgrab_x86_64-linux.so in the ld cache.
- The null channel traces the CamEvent payload it would have sent.
Tested on tower 111 with the TarisIR mini, the motors mocked: cap_net_raw is
enough, RGB/TIR pairs with one timestamp, the TIR file decodes to the counts
its CamEvent describes, profile switches 0-1-0. 536/536 in the 22.04 container.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
A TarisIR mini (driver = taris) is a second camera source behind a
CompositeCameraSource: the colour camera is asked first, then the thermal one
for its newest frame, and both frames carry the colour frame's timestamp.
Counts are saved 16-bit lossless under TIR/, and the CamEvent gains cal,
missed, tmax, tmed, hotx and hoty (docs/mqtt-api.md). The SDK is declared in
IrbgrabApi.h and loaded with dlopen, so no SDK file is in the repository; a
missing or unreachable camera stays offline (Health cams_offline) while the
scan goes on. scripts/fgc-setcap gives the binary cap_net_raw after a build.
Built and tested in an Ubuntu 22.04 container (mock, MQTT, Vimba+MQTT,
534/534), plus a mock run with RGB/TIR pairs. Not yet run against the camera.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Peter Bochmann