A TarisIR mini (driver = taris) as a second camera source: the colour and the
thermal picture of each waypoint, the thermal counts saved 16-bit lossless,
the CamEvent extended by cal, missed, tmax, tmed, hotx and hoty. The program
runs the camera's NUC while the gimbal moves and holds its frame rate on the
wire; scripts/fgc-setcap gives the binary cap_net_raw.
Built and tested in an Ubuntu 22.04 container (mock and Vimba+MQTT, 542/542)
and running on tower 111 since 2026-10-14; from 2026-10-15 20:19 on, 15 h and
then 2.6 days of scanning without a missing thermal picture. Not yet tested:
pulling the camera's cable during a scan.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Setting Framerate_Hz while grabbing only thinned out what the SDK handed over;
the camera went on sending 10 fps (and 50 from power-up). Set while the grab
is stopped, once the stream has run, it holds. So the grab is restarted with
the rate set when the first frame is in, and the packet rate of the camera's
port is counted: if it still carries more than 1.5x the rate's frames, the
restart is repeated (up to three times). On tower 111: 5.3 fps, 2 224 packets
a second instead of 22 234, on the second attempt; system load 18 % down from
about 29 %.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Set before the first startgrab after connecting, Framerate_Hz answers ok and
changes nothing: the camera went on sending its power-up 50 fps, 31 MB/s and
22 000 packets a second on tower 111, which kept all four cores clocked up for
pictures taken one every 5 s. Set after startgrab it holds (5 Hz: 2 100
packets a second).
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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>
Every miss now says how old the newest frame was and whether a NUC was
running; every pause over 500 ms in the frame stream is logged with the
camera's own clock, the polls and getdata answers in it, and NUC_INPROGRESS,
which is watched on every poll; a summary of the stream goes out every ten
minutes, and the NUC configuration at connect. Adds the SDK's NUC parameters
(410-415), for running the NUC on purpose later.
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>
Built and tested in an Ubuntu 22.04 container (mock and Vimba+MQTT, 494/494)
and running on tower 111 since 2026-10-14.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
A tower's scan grid belongs to that tower, not to the repo: the copy here
had already drifted from the one Staeffelsberg actually uses.
Before the next deploy to Staeffelsberg, move its grid out of the project
folder (scripts/tower-config move) - deploy.sh syncs with --delete and
would otherwise remove the file its config.ini points at.
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
A tower's scan grid belongs to that tower, not to the repo: the copy here
had already drifted from the one Staeffelsberg actually uses.
Before the next deploy to Staeffelsberg, move its grid out of the project
folder (scripts/tower-config move) - deploy.sh syncs with --delete and
would otherwise remove the file its config.ini points at.
Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com>
Peter Bochmann
pgdalmeida