Run the thermal camera's NUC while the gimbal moves

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>

config/config.example.ini

@@ -112,6 +112,7 @@ frame_timeout_ms = 5000
 ;calib_profile = 0                      ; 0: -40..120 C (forest), 1: 0..600 C
 ;frame_rate_hz = 5                      ; the camera free-runs at this, throttled
 ;max_frame_age_ms = 400                 ; older is not kept; below the scan's settle wait
+;nuc_interval_s = 30                    ; NUC at the start of a move, not mid-picture; 0 = camera's timer
 ;rotation_deg = 0
 ;jxl_effort = 3
 ;

docs/configuration.md

@@ -78,6 +78,7 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
 | `Camera.<name>` (`taris`) | `calib_profile` | int ≥ 0 | `0` | Calibration profile set on connect: 0 = -40..120 °C at 0.01 K/count, 1 = 0..600 °C at 0.02 K/count. Switch live with `camera calib <n>` |
 | `Camera.<name>` (`taris`) | `frame_rate_hz` | 0 < x ≤ 50 | `5` | The rate the camera free-runs at |
 | `Camera.<name>` (`taris`) | `max_frame_age_ms` | int > 0 | `400` | A frame older than this when the picture is taken is not kept: that picture has no thermal image. Keep it below the scan's settle wait, or the frame can predate standstill (warned at startup) |
+| `Camera.<name>` (`taris`) | `nuc_interval_s` | int 0..3600 | `30` | Seconds between NUCs, run by the program at the start of a move so none blanks a picture (after twice this with no move, one runs anyway). `0` leaves the camera's own timer, which now and then takes a picture's frame |
 | `Camera.<name>` (`taris`) | `library` | string | `libirbgrab_x86_64-linux.so` | The InfraTec SDK, found through the ld cache |
 | `Camera.<name>` (`taris`, hardware.ini) | `interface` | string | — | The network port the camera is cabled to; only named in the message when it is not found |
 | `Hardware` (hardware.ini) | `save_workers` | int 1..4 | `1` | Frames saved at once. 1 on the IOTA, 2 on the 3 Delta ([measurements](raw12-pipeline-measurements.md)) |
@@ -1080,6 +1081,14 @@ their CamEvents, see [mqtt-api.md](mqtt-api.md#thermal-camera-cam-tir)).
   the colour camera's `settle_wait_ms`.
 - **Kept grabbing**: from start to exit, also in manual mode. A microbolometer
   that is restarted begins with zero frames and a fresh NUC.
+- **NUC while the gimbal moves.** The camera recalibrates against its shutter
+  every 30 s and sends no frame for about 0.7 s meanwhile; a picture falling
+  into that had no thermal image (0.8 % of them on tower 111). The program
+  switches the camera's timer off and runs the NUC itself at the start of a
+  move once `nuc_interval_s` has passed; the move and the settle wait leave
+  seconds before the next picture. A picture that still finds the camera
+  between frames waits up to 1 s for the next one. On exit the camera's timer
+  is put back.
 - **Split between the files** like any camera: `driver`, `id` and `interface`
   in hardware.ini (with `tir` in `[Hardware] cameras`), the rest in config.ini.
   `save_queue_max` counts frames, so raise it by 2.

docs/known-issues.md

@@ -169,7 +169,9 @@ scripts for this are worth keeping; note that wrapping them in `timeout` SIGTERM
 - ~~Support a second camera backend.~~ Done for the thermal camera (`driver = taris`,
   `TarisCameraSource`, behind `CompositeCameraSource`), tested with the TarisIR mini on tower 111 on
   2026-10-14 (docs/tower-installation.md, Phase 2b). Not yet tested: a pulled camera cable during a scan
-  (the reconnect is only unit-tested), and a long unattended run. A NIR unit would be a third driver
+  (the reconnect is only unit-tested). The 0.8 % of pictures without a thermal frame in the first long run
+  were the camera's own NUC every 30 s (a 0.7 s pause in its stream); since 2026-10-15 the program runs the
+  NUC at the start of a move instead. A NIR unit would be a third driver
   behind the same key.
 - The InfraTec SDK costs about a quarter of one core on the 3 Delta even between pictures: three threads
   it starts in `dll_init` and one per connection poll the raw socket in `nanosleep` loops (measured on

docs/tower-installation.md

@@ -950,7 +950,13 @@ Measured on tower 111 (2026-10-14, SDK 4.3.44, SN 2017744):
 - A profile switch takes about 3 s; frames keep the old scale until
   `Calib_ChangeInProgress` reaches 0, and the program takes none meanwhile.
 - The camera's frame counter (`ImageNum`) is always 0; `MissedPackets` was
-  always 0 on the direct link.
+  always 0 on the direct link. It delivers about 50 fps whatever `Framerate_Hz`
+  says; the program polls it at 10 Hz.
+- NUC (2026-10-15): the camera runs one every 30 s (`NUC_Interval`) and sends no
+  frame for 650-760 ms meanwhile. `NUC_Interval = 0` stops that; `NUC_Perform`
+  (1-point) runs one and returns when it is done, after about 0.67 s.
+  `NUC_INPROGRESS` stays 0 throughout, also for those. The program now runs the
+  NUC itself at the start of a move (`nuc_interval_s`).
 - The SDK switches the process's C locale to `LC_NUMERIC=de_DE` when it is
   loaded. The program puts it back after every SDK call and writes its JSON
   without the C library's number formatting.

include/fgc/CompositeCameraSource.h

@@ -22,6 +22,10 @@ namespace fgc {
 // Every frame of one trigger carries the leader's timestamp, so the pair is
 // RGB/<t>.jxl and TIR/<t>.jxl with the same <t> in both CamEvents.
 //
+// A follower that is briefly without a fresh frame (frameReady() false: the
+// thermal camera's NUC) holds the picture back for up to `follower_wait_ms`,
+// so the pair stays whole; past that the leader goes on alone.
+//
 // Indices are global: child k's camera i is offset(k) + i. Calls about one
 // camera go to the child that has it.
 //
@@ -33,13 +37,15 @@ namespace fgc {
 class CompositeCameraSource : public ICameraSource {
 public:
     explicit CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>> children,
-                                   std::vector<int> counts = {});
+                                   std::vector<int> counts = {}, int follower_wait_ms = 1000);
 
     void open() override;
     void close() override;
     void start() override;
     void stop() override;
     bool trigger() override;
+    void moving() override;
+    bool frameReady() override;
     bool setProfile(int camera_index, const CameraProfile& profile) override;
     void setFrameCallback(FrameCallback cb) override;
     uint64_t                frameSeq() override;
@@ -67,6 +73,8 @@ private:
     FrameCallback    callback_;
     bool             in_trigger_ = false;
     long long        shot_ts_    = 0;   // the leader's frame time, during a trigger
+    int              follower_wait_ms_;
+    long long        waiting_since_ = 0;   // steady ms a picture began waiting for a follower
 };
 
 }  // namespace fgc

include/fgc/Config.h

@@ -223,6 +223,10 @@ struct CameraSpec {
     // settle wait, or the frame may have been taken while the gimbal still moved.
     int         max_frame_age_ms = 400;
     std::string library = "libirbgrab_x86_64-linux.so";   // the SDK, found through the ld cache
+    // Seconds between NUCs the program runs itself, each at the start of a move
+    // so it never blanks a picture; 0 leaves the camera's own timer, which fires
+    // mid-picture now and then (TarisCameraSource.h).
+    int         nuc_interval_s   = 30;
     // Mounting (hardware.ini): the camera's network port, for diagnostics only.
     std::string interface;
 

include/fgc/ICameraSource.h

@@ -86,6 +86,16 @@ public:
     // yet, and the caller simply retries.
     virtual bool trigger() = 0;
 
+    // The gimbal has started moving: nothing will be captured until it stands
+    // still again and has settled. A camera with housekeeping that blanks its
+    // stream - the thermal camera's NUC - does it now. Default: nothing.
+    virtual void moving() {}
+
+    // Would trigger() hand over a fresh frame right now? False while a camera is
+    // briefly between frames (a NUC), so a picture can wait a moment for it
+    // rather than go without. Default: always.
+    virtual bool frameReady() { return true; }
+
     // Apply a profile to one camera, identified by its index in the order the
     // source opened them (the same index Frame::cam_id carries). The backend
     // loads the profile's settings XML through its SDK - see CameraProfile.h.

include/fgc/IrbgrabApi.h

@@ -58,8 +58,16 @@ inline constexpr uint32_t kCameraTempHousing     = 217;   // Kelvin
 inline constexpr uint32_t kFramerateHz           = 240;
 inline constexpr uint32_t kFrameWidth            = 294;
 inline constexpr uint32_t kFrameHeight           = 295;
+// Non-uniformity correction, done in the camera with its own shutter.
+inline constexpr uint32_t kNucActive             = 410;   // R bool: correction applied
+inline constexpr uint32_t kNucPerform            = 411;   // W Int2 {mode, flags}: run one now
+inline constexpr uint32_t kNucInProgress         = 412;   // R bool
+inline constexpr uint32_t kNucInterval           = 415;   // R/W s between automatic ones, 0 = off
 }  // namespace param
 
+// kNucPerform's mode (Int2::value1); value2 takes flags, 0 for none.
+inline constexpr int32_t kNucMode1Point = 2;
+
 #pragma pack(push, 1)
 struct String {
     char*   text;
@@ -73,6 +81,10 @@ struct IdxInt32 {
     int32_t index;
     int32_t value;
 };
+struct Int2 {
+    int32_t value1;
+    int32_t value2;
+};
 // Per-frame information (mem_getinfo). struct_size must be set before the call.
 struct MemInfo {
     int32_t struct_size;
@@ -89,12 +101,14 @@ inline constexpr uint32_t kBaseInt64   = 0x50000000;
 inline constexpr uint32_t kBaseFloat32 = 0xA0000000;
 inline constexpr uint32_t kBaseString  = 0xF0000000;
 inline constexpr uint32_t kExIndex     = 0x01000000;
+inline constexpr uint32_t kExArray2    = 0x02020000;   // a pair
 inline constexpr uint32_t kTypeInt32     = kBaseInt32 | sizeof(int32_t);
 inline constexpr uint32_t kTypeInt64     = kBaseInt64 | sizeof(int64_t);
 inline constexpr uint32_t kTypeSingle    = kBaseFloat32 | sizeof(float);
 inline constexpr uint32_t kTypeString    = kBaseString | sizeof(String);
 inline constexpr uint32_t kTypeIdxString = kExIndex | kBaseString | sizeof(IdxString);
 inline constexpr uint32_t kTypeIdxInt32  = kExIndex | kBaseInt32 | sizeof(IdxInt32);
+inline constexpr uint32_t kType2Int32    = kExArray2 | kBaseInt32 | sizeof(Int2);
 
 // The entry points, as function pointers so a test can stand in for the SDK.
 struct Api {

include/fgc/TarisCameraSource.h

@@ -25,6 +25,13 @@ namespace fgc {
 // A camera that is missing, unlicensed or unreachable is not a startup error.
 // The source reports why in offline(), keeps retrying, and the scan goes on
 // without it.
+//
+// NUC: the camera recalibrates itself against its shutter every 30 s and sends
+// no frame for about 0.7 s while it does (measured on tower 111). A picture
+// that falls into that gets no thermal frame. So the program switches the
+// camera's timer off and runs the NUC itself, at the start of a move - the
+// move and the settle wait leave seconds before the next picture - once
+// nuc_interval has passed, or after twice that without any move (manual mode).
 class TarisCameraSource : public ICameraSource {
 public:
     struct Options {
@@ -38,6 +45,7 @@ public:
         int         retry_min_ms     = 2000; // between connection attempts, doubling...
         int         retry_max_ms     = 30000;// ...up to this
         int         calib_timeout_ms = 15000;// a profile switch takes about 3 s
+        int         nuc_interval_ms  = 30000;// 0: leave the camera's own NUC timer
     };
     static Options fromSpec(const CameraSpec& spec);
 
@@ -54,6 +62,9 @@ public:
     void start() override;
     void stop() override;
     bool trigger() override;
+    // Runs a due NUC now (on the worker), while the gimbal moves.
+    void moving() override;
+    bool frameReady() override;
     void setFrameCallback(FrameCallback cb) override;
     int  cameraCount() const override { return 1; }
     std::vector<CameraDeviceInfo> deviceInfo() override;

src/camera/CompositeCameraSource.cpp

@@ -2,13 +2,22 @@
 
 #include "fgc/Logger.h"
 
+#include <chrono>
 #include <stdexcept>
 
 namespace fgc {
 
+namespace {
+long long steadyMs() {
+    using namespace std::chrono;
+    return duration_cast<milliseconds>(steady_clock::now().time_since_epoch()).count();
+}
+}  // namespace
+
 CompositeCameraSource::CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>> children,
-                                             std::vector<int> counts)
-    : children_(std::move(children)), counts_(std::move(counts)) {
+                                             std::vector<int> counts, int follower_wait_ms)
+    : children_(std::move(children)), counts_(std::move(counts)),
+      follower_wait_ms_(follower_wait_ms) {
     if (children_.empty()) throw std::invalid_argument("CompositeCameraSource needs a camera");
     if (counts_.empty())
         for (const auto& c : children_) counts_.push_back(c->cameraCount());
@@ -57,6 +66,16 @@ void CompositeCameraSource::stop() {
 }
 
 bool CompositeCameraSource::trigger() {
+    bool followers_ready = true;
+    for (size_t k = 1; k < children_.size(); ++k) followers_ready &= children_[k]->frameReady();
+    if (!followers_ready) {
+        const long long now = steadyMs();
+        if (waiting_since_ == 0) waiting_since_ = now;
+        if (now - waiting_since_ < follower_wait_ms_) return false;   // asked again next tick
+        LOG_DEBUG << "camera: a follower had no fresh frame for " << now - waiting_since_
+                  << " ms; taking the picture without it";
+    }
+    waiting_since_ = 0;
     in_trigger_ = true;
     shot_ts_    = 0;
     const bool taken = children_[0]->trigger();
@@ -66,6 +85,16 @@ bool CompositeCameraSource::trigger() {
     return taken;
 }
 
+void CompositeCameraSource::moving() {
+    for (auto& c : children_) c->moving();
+}
+
+bool CompositeCameraSource::frameReady() {
+    for (auto& c : children_)
+        if (!c->frameReady()) return false;
+    return true;
+}
+
 void CompositeCameraSource::setFrameCallback(FrameCallback cb) {
     callback_ = std::move(cb);
     // The leader's frames pass through untouched (they can be 24 MB); its

src/camera/TarisCameraSource.cpp

@@ -13,6 +13,7 @@
 #include <deque>
 #include <clocale>
 #include <fstream>
+#include <map>
 #include <mutex>
 #include <sstream>
 #include <thread>
@@ -70,6 +71,11 @@ private:
 
 constexpr long long kLogEveryMs       = 60000;   // repeated trouble: one line a minute
 constexpr long long kTelemetryEveryMs = 5000;
+// Diagnostics for pictures that get no thermal frame: a pause in the frame
+// stream this long is logged with what the camera said meanwhile, and a summary
+// of the stream goes out this often.
+constexpr long long kGapLogMs         = 500;
+constexpr long long kSummaryEveryMs   = 600000;
 
 }  // namespace
 
@@ -81,6 +87,7 @@ TarisCameraSource::Options TarisCameraSource::fromSpec(const CameraSpec& spec) {
     o.max_frame_age_ms = spec.max_frame_age_ms;
     o.library          = spec.library;
     o.interface        = spec.interface;
+    o.nuc_interval_ms  = spec.nuc_interval_s * 1000;
     return o;
 }
 
@@ -127,6 +134,19 @@ struct TarisCameraSource::Impl {
     bool        zeros_logged      = false;
     std::string last_offline_logged;
 
+    // Stream diagnostics (see kGapLogMs). Since the last frame taken:
+    double      last_cam_ts       = -1.0;  // its MemInfo time, ms
+    long long   polls_since_frame = 0;
+    std::map<Ret, int> codes_since_frame;  // getdata answers other than a new frame
+    // NUC run by the program (Options::nuc_interval_ms).
+    int         nuc_interval_found = -1;   // the camera's own timer, put back on close
+    bool        nuc_ours          = false; // the camera's timer is off and we run it
+    long long   last_nuc_ms       = 0;     // steady
+    // For the summary:
+    long long   sum_frames = 0, sum_gaps = 0, sum_nucs = 0, sum_max_gap = 0;
+    double      sum_cam_span      = 0.0;   // camera clock covered by sum_frames
+    long long   sum_since_ms      = 0;
+
     // ---- shared, under m -------------------------------------------------
     std::mutex              m;
     std::condition_variable cv;
@@ -137,14 +157,16 @@ struct TarisCameraSource::Impl {
     CameraDeviceInfo        info;
     std::deque<long long>   arrivals;      // steady ms of recent frames, for fps
     long long               missed_shots  = 0;
-    long long               missed_logged_ms = 0;
-    long long               missed_since_log = 0;
     long long               packets_lost  = 0;
     int                     cal_wanted    = -1;   // a pending setFeature("CalibProfile")
     bool                    cal_done      = false;
     bool                    cal_ok        = false;
     bool                    reset_wanted  = false;
     uint64_t                connects      = 0;
+    bool                    nuc_now       = false;  // a NUC of ours is running
+    long long               nuc_now_since = 0;      // steady ms it began
+    bool                    move_started  = false;  // moving() since the worker last looked
+    long long               missed_window = 0;      // misses since the last summary
 
     std::atomic<bool> running{false};
     std::atomic<bool> gate{false};
@@ -176,7 +198,9 @@ struct TarisCameraSource::Impl {
     void pause(long long ms) {
         std::unique_lock<std::mutex> l(m);
         cv.wait_for(l, std::chrono::milliseconds(ms),
-                    [this] { return !running.load() || cal_wanted >= 0 || reset_wanted; });
+                    [this] {
+                        return !running.load() || cal_wanted >= 0 || reset_wanted || move_started;
+                    });
     }
 
     // ---- parameter helpers -------------------------------------------------
@@ -407,9 +431,14 @@ struct TarisCameraSource::Impl {
             if (!model.empty()) info.model = model;
             ++connects;
         }
+        takeOverNuc();
+
         kpc               = 0.0;
         scale_tries       = 0;
         last_sdk_ts       = -1.0;
+        last_cam_ts       = -1.0;
+        polls_since_frame = 0;
+        codes_since_frame.clear();
         zeros_logged      = false;
         last_frame_steady = steadyMs();   // grace for the first frame
         return true;
@@ -418,12 +447,14 @@ struct TarisCameraSource::Impl {
     // ---- frames ------------------------------------------------------------
     // Take the newest frame from the SDK, if there is one.
     void poll() {
+        ++polls_since_frame;
         // As before every getdata in the vendor's examples: without it the SDK
         // now and then answers 0x80000001 instead of a frame.
         setInt32(param::kPollingEnable, 1);
         Handle mem = 0;
         const Ret r = api->dev_getdata(dev, kMemIrDigitFrame, &mem);
         if (!ok(r)) {
+            ++codes_since_frame[r];
             if (r == kErrNucOrLicence) {
                 ++nuc_or_licence;
                 const long long now = steadyMs();
@@ -461,7 +492,10 @@ struct TarisCameraSource::Impl {
             mi.image_num    = -1;
             mi.timestamp_ms = -1.0;
         }
-        if (mi.timestamp_ms >= 0.0 && mi.timestamp_ms == last_sdk_ts) return;   // seen it
+        if (mi.timestamp_ms >= 0.0 && mi.timestamp_ms == last_sdk_ts) {   // seen it
+            ++codes_since_frame[kSuccess];
+            return;
+        }
         last_sdk_ts = mi.timestamp_ms;
 
         const auto* counts = reinterpret_cast<const uint16_t*>(ptr);
@@ -493,6 +527,7 @@ struct TarisCameraSource::Impl {
         f.thermal          = t;
 
         const long long now = steadyMs();
+        noteFrame(now, mi.timestamp_ms);
         last_frame_steady   = now;
         {
             std::lock_guard<std::mutex> l(m);
@@ -545,6 +580,137 @@ struct TarisCameraSource::Impl {
         }
     }
 
+    // ---- NUC ---------------------------------------------------------------
+    // Switch the camera's own NUC timer off: from now on the program runs the
+    // NUC, while the gimbal moves. The timer's value goes back on close. (Read
+    // back right after a set, the camera still reports the old value.)
+    void takeOverNuc() {
+        nuc_ours = false;
+        if (o.nuc_interval_ms <= 0) {
+            LOG_INFO << "thermal camera: NUC left to the camera's own timer";
+            return;
+        }
+        int32_t found = -1;
+        if (!getInt32(param::kNucInterval, found)) {
+            LOG_WARN << "thermal camera: cannot read NUC_Interval; NUC left to the camera";
+            return;
+        }
+        if (nuc_interval_found < 0) nuc_interval_found = found;
+        const Ret r = setInt32(param::kNucInterval, 0);
+        if (!ok(r)) {
+            LOG_WARN << "thermal camera: cannot switch the camera's NUC timer off (" << describe(r)
+                     << "); a picture may now and then fall into a NUC";
+            return;
+        }
+        nuc_ours    = true;
+        last_nuc_ms = steadyMs() - o.nuc_interval_ms;   // the first move runs one
+        LOG_INFO << "thermal camera: NUC every " << o.nuc_interval_ms / 1000
+                 << " s at the start of a move (camera's own timer: " << found << " s, now off)";
+    }
+
+    // Put the camera's timer back, so it corrects itself without us.
+    void handBackNuc() {
+        if (!nuc_ours || nuc_interval_found <= 0) return;
+        const Ret r = setInt32(param::kNucInterval, nuc_interval_found);
+        LOG_INFO << "thermal camera: NUC timer back to " << nuc_interval_found << " s ("
+                 << describe(r) << ")";
+        nuc_ours = false;
+    }
+
+    // A NUC when one is due and the gimbal has just started moving, or when it
+    // is overdue (twice the interval) with no move to wait for.
+    void serviceNuc() {
+        bool moved;
+        {
+            std::lock_guard<std::mutex> l(m);
+            moved        = move_started;
+            move_started = false;   // always: pause() wakes on it
+        }
+        if (!nuc_ours) return;
+        const long long since = steadyMs() - last_nuc_ms;
+        if (moved ? since < o.nuc_interval_ms : since < 2LL * o.nuc_interval_ms) return;
+        runNuc(moved ? "move" : "no move for a while");
+    }
+
+    void runNuc(const char* why) {
+        const long long start = steadyMs();
+        {
+            std::lock_guard<std::mutex> l(m);
+            nuc_now       = true;
+            nuc_now_since = start;
+        }
+        Int2 nuc{kNucMode1Point, 0};
+        // Returns once the NUC is done, about 0.7 s.
+        const Ret r = api->dev_setparam(dev, param::kNucPerform, &nuc, kType2Int32);
+        const long long done = steadyMs();
+        {
+            std::lock_guard<std::mutex> l(m);
+            nuc_now = false;
+            // A frame from before the NUC is no longer fresh for a picture.
+            delivered_seq = latest_seq;
+        }
+        last_nuc_ms = done;
+        ++sum_nucs;
+        // A frame is due as soon as the NUC is over; do not count it as a stall.
+        last_frame_steady = std::max(last_frame_steady, done);
+        if (!ok(r)) {
+            LOG_WARN << "thermal camera: NUC failed (" << describe(r)
+                     << "); handing NUC back to the camera's own timer";
+            handBackNuc();
+            return;
+        }
+        LOG_DEBUG << "thermal camera: NUC (" << why << ") took " << done - start << " ms";
+    }
+
+    // A new frame: log the pause before it if it was long, and count it.
+    void noteFrame(long long now, double cam_ts) {
+        const long long host_gap = now - last_frame_steady;
+        const double    cam_gap  = last_cam_ts >= 0.0 && cam_ts >= 0.0 ? cam_ts - last_cam_ts : -1.0;
+        if (last_cam_ts >= 0.0) {
+            ++sum_frames;
+            if (cam_gap > 0.0) sum_cam_span += cam_gap;
+            sum_max_gap = std::max(sum_max_gap, host_gap);
+            // A pause of our own making is no news.
+            const bool ours = now - last_nuc_ms < 2000;
+            if ((host_gap > kGapLogMs || cam_gap > kGapLogMs) && !ours) {
+                ++sum_gaps;
+                std::string codes;
+                for (const auto& [code, n] : codes_since_frame)
+                    codes += (codes.empty() ? "" : ", ") +
+                             (code == kSuccess ? std::string("same frame") : describe(code)) +
+                             " x" + std::to_string(n);
+                LOG_INFO << "thermal camera: frame gap " << host_gap << " ms (camera clock "
+                         << static_cast<long long>(cam_gap) << " ms), " << polls_since_frame
+                         << " polls: " << (codes.empty() ? "-" : codes);
+            }
+        }
+        last_cam_ts       = cam_ts;
+        polls_since_frame = 0;
+        codes_since_frame.clear();
+        if (now - sum_since_ms >= kSummaryEveryMs) summary(now);
+    }
+
+    void summary(long long now) {
+        if (sum_since_ms != 0 && sum_frames > 0) {
+            long long missed;
+            {
+                std::lock_guard<std::mutex> l(m);
+                missed        = missed_window;
+                missed_window = 0;
+            }
+            const double fps = sum_cam_span > 0.0 ? sum_frames * 1000.0 / sum_cam_span : 0.0;
+            LOG_INFO << "thermal camera, last " << (now - sum_since_ms) / 60000 << " min: "
+                     << sum_frames << " frames (" << std::lround(fps * 10) / 10.0
+                     << " fps by the camera's clock), longest gap " << sum_max_gap << " ms, "
+                     << sum_gaps << " unexplained over " << kGapLogMs << " ms, " << sum_nucs
+                     << " NUC" << (nuc_ours ? " (ours)" : "") << ", "
+                     << missed << " picture(s) without a thermal frame";
+        }
+        sum_frames = sum_gaps = sum_nucs = sum_max_gap = 0;
+        sum_cam_span = 0.0;
+        sum_since_ms = now;
+    }
+
     void telemetry() {
         float k = 0.f;
         if (getSingle(param::kCameraTempHousing, k) && k > 0.f) {
@@ -594,6 +760,7 @@ struct TarisCameraSource::Impl {
                     // retry pause from pausing.
                     std::lock_guard<std::mutex> l(m);
                     reset_wanted = false;
+                    move_started = false;   // nor may a move cut the retry pause short
                 }
                 std::string why;
                 bool        up;
@@ -614,6 +781,7 @@ struct TarisCameraSource::Impl {
             }
             serviceRequests();
             if (!connected) continue;
+            serviceNuc();
             poll();
 
             const long long now = steadyMs();
@@ -631,6 +799,7 @@ struct TarisCameraSource::Impl {
             pause(poll_ms);
         }
         LocaleGuard keep;
+        if (connected) handBackNuc();
         disconnect();
         if (sdk_init) api->dll_uninit();
         sdk_init = false;
@@ -700,26 +869,48 @@ void TarisCameraSource::stop() { impl_->gate = false; }
 
 void TarisCameraSource::setFrameCallback(FrameCallback cb) { impl_->callback = std::move(cb); }
 
+void TarisCameraSource::moving() {
+    {
+        std::lock_guard<std::mutex> l(impl_->m);
+        impl_->move_started = true;
+    }
+    impl_->cv.notify_all();   // the worker may be pausing between polls
+}
+
+bool TarisCameraSource::frameReady() {
+    Impl&                       d = *impl_;
+    std::lock_guard<std::mutex> l(d.m);
+    if (!d.running || !d.why_offline.empty()) return true;   // nothing to wait for
+    if (d.nuc_now) return false;
+    return d.latest_seq > d.delivered_seq &&
+           unixMs() - d.latest.timestamp_ms <= d.o.max_frame_age_ms;
+}
+
 bool TarisCameraSource::trigger() {
     Impl& d = *impl_;
     if (!d.gate || !d.callback) return false;
     Frame f;
     {
         std::lock_guard<std::mutex> l(d.m);
-        const bool fresh = d.latest_seq > d.delivered_seq &&
-                           unixMs() - d.latest.timestamp_ms <= d.o.max_frame_age_ms;
+        const bool new_frame = d.latest_seq > d.delivered_seq;
+        const long long age  = d.latest_seq ? unixMs() - d.latest.timestamp_ms : -1;
+        const bool fresh     = new_frame && age <= d.o.max_frame_age_ms;
         if (!fresh) {
+            // Every miss, with what tells its cause apart: the stream paused (and
+            // whether a NUC was running), or nothing came since the last picture.
             ++d.missed_shots;
-            ++d.missed_since_log;
+            ++d.missed_window;
             d.info.frames_dropped = d.missed_shots + d.packets_lost;
             const long long now = steadyMs();
-            if (now - d.missed_logged_ms >= kLogEveryMs) {
-                LOG_WARN << "thermal camera: no fresh frame for " << d.missed_since_log
-                         << " picture(s) in the last minute"
-                         << (d.why_offline.empty() ? "" : " (" + d.why_offline + ")");
-                d.missed_logged_ms = now;
-                d.missed_since_log = 0;
-            }
+            std::string why = !d.why_offline.empty()
+                                  ? d.why_offline
+                                  : "newest frame " + std::to_string(age) + " ms old (limit " +
+                                        std::to_string(d.o.max_frame_age_ms) + " ms)" +
+                                        (new_frame ? "" : ", none since the last picture") +
+                                        (d.nuc_now ? ", NUC in progress for " +
+                                                         std::to_string(now - d.nuc_now_since) + " ms"
+                                                   : "");
+            LOG_WARN << "thermal camera: no thermal frame for this picture: " << why;
             return false;
         }
         f               = d.latest;

src/core/CaptureScheduler.cpp

@@ -110,6 +110,8 @@ void CaptureScheduler::sendMove() {
     // form ("ERR axis not present") and moves nothing, so address yaw alone.
     motor_.sendCommand(moveCommand(yaw_target_, pitch_present_ ? std::optional<long>(pitch_target_)
                                                                : std::nullopt));
+    // The time the move and the settle wait take is free for the cameras.
+    camera_.moving();
 }
 
 bool CaptureScheduler::settledAt(const MotorTelemetry& t) const {

src/core/Config.cpp

@@ -393,6 +393,7 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
         c.frame_rate_hz    = getDouble(kv, pre + "frame_rate_hz", c.frame_rate_hz);
         c.max_frame_age_ms = getInt(kv, pre + "max_frame_age_ms", c.max_frame_age_ms);
         c.library          = get(kv, pre + "library", c.library);
+        c.nuc_interval_s   = getInt(kv, pre + "nuc_interval_s", c.nuc_interval_s);
         c.interface        = get(kv, pre + "interface");
 
         // Per-profile timing: Camera.<name>.<profile>.settle_wait_ms
@@ -434,6 +435,9 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
                 throw std::runtime_error("Camera." + name + ".frame_rate_hz must be in (0, 50]");
             if (c.max_frame_age_ms <= 0)
                 throw std::runtime_error("Camera." + name + ".max_frame_age_ms must be > 0");
+            if (c.nuc_interval_s < 0 || c.nuc_interval_s > 3600)
+                throw std::runtime_error("Camera." + name + ".nuc_interval_s must be in 0..3600 "
+                                         "(0 = the camera's own timer)");
             if (c.library.empty())
                 throw std::runtime_error("Camera." + name + ".library must not be empty");
         }

tests/test_composite.cpp

@@ -2,7 +2,9 @@
 
 #include <doctest/doctest.h>
 
+#include <chrono>
 #include <stdexcept>
+#include <thread>
 #include <vector>
 
 using namespace fgc;
@@ -20,6 +22,8 @@ struct FakeSource : ICameraSource {
     bool          throws_on_open = false;
     int           triggers = 0;
     bool          started = false;
+    bool          frame_ready = true;   // frameReady()
+    int           moves = 0;
     std::string   why_offline;
     FrameCallback cb;
 
@@ -32,6 +36,8 @@ struct FakeSource : ICameraSource {
     void close() override {}
     void start() override { started = true; }
     void stop() override { started = false; }
+    void moving() override { ++moves; }
+    bool frameReady() override { return frame_ready; }
     bool trigger() override {
         ++triggers;
         if (!ready) return false;
@@ -172,6 +178,44 @@ TEST_CASE("the indices are the configured ones, also before the leader has opene
     CHECK_THROWS(CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>>{}, {}));
 }
 
+TEST_CASE("a picture waits a moment for a follower between frames, then goes without it") {
+    auto c = std::make_unique<FakeSource>(1, 1000);
+    auto t = std::make_unique<FakeSource>(1, 5000);
+    FakeSource* colour  = c.get();
+    FakeSource* thermal = t.get();
+    std::vector<std::unique_ptr<ICameraSource>> v;
+    v.push_back(std::move(c));
+    v.push_back(std::move(t));
+    CompositeCameraSource src(std::move(v), {1, 1}, 60);
+    std::vector<Frame> frames;
+    src.setFrameCallback([&](const Frame& f) { frames.push_back(f); });
+
+    // The thermal camera is in its NUC: the picture is held, the leader not asked.
+    thermal->frame_ready = false;
+    CHECK_FALSE(src.trigger());
+    CHECK(colour->triggers == 0);
+    CHECK_FALSE(src.frameReady());
+    // It comes back within the wait: one whole pair.
+    thermal->frame_ready = true;
+    REQUIRE(src.trigger());
+    CHECK(frames.size() == 2);
+
+    // It does not come back: after the wait the colour picture goes alone.
+    frames.clear();
+    thermal->frame_ready = false;
+    CHECK_FALSE(src.trigger());
+    std::this_thread::sleep_for(std::chrono::milliseconds(80));
+    REQUIRE(src.trigger());
+    CHECK(colour->triggers == 2);
+}
+
+TEST_CASE("every source hears that the gimbal moves") {
+    Rig r;
+    r.src->moving();
+    CHECK(r.colour->moves == 1);
+    CHECK(r.thermal->moves == 1);
+}
+
 TEST_CASE("start and stop reach every source") {
     Rig r;
     r.src->start();

tests/test_config.cpp

@@ -312,6 +312,7 @@ TEST_CASE("A thermal camera needs no settings XML and is always lossless") {
     CHECK(tir.max_frame_age_ms == 400);
     CHECK(tir.library == "libirbgrab_x86_64-linux.so");
     CHECK(tir.interface == "enp1s0");
+    CHECK(tir.nuc_interval_s == 30);
     // [Camera] jxl_distance is for colour cameras; counts default to lossless.
     CHECK(tir.jxl_distance == 0.0);
     CHECK(c.camera.cameras[0].jxl_distance == doctest::Approx(0.8));
@@ -368,6 +369,8 @@ TEST_CASE("Thermal camera blocks reject what cannot work") {
     // An empty value means the default, as for every key.
     CHECK(ConfigLoader::fromMap(base({{"Camera.tir.library", ""}})).camera.cameras[1].library ==
           "libirbgrab_x86_64-linux.so");
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.nuc_interval_s", "-1"}})));
+    CHECK_NOTHROW(ConfigLoader::fromMap(base({{"Camera.tir.nuc_interval_s", "0"}})));
     // Two cameras, one output folder: their pictures would overwrite each other.
     CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.label", "X"}, {"Camera.tir.label", "X"}})));
     // A disabled thermal camera needs no serial, like any other.

tests/test_scheduler.cpp

@@ -26,6 +26,7 @@ struct FakeMotor : IMotorController {
 
 struct FakeCamera : ICameraSource {
     int  triggers = 0;
+    int  moves = 0;
     bool ok = true;
     // A stream of frames for the keep rule; empty = a camera with no frame data.
     std::vector<FrameStats> stream;
@@ -44,6 +45,7 @@ struct FakeCamera : ICameraSource {
     void start() override {}
     void stop() override {}
     bool trigger() override { ++triggers; return ok; }
+    void moving() override { ++moves; }
     void setFrameCallback(FrameCallback) override {}
     int  cameraCount() const override { return 1; }
 };
@@ -85,6 +87,7 @@ TEST_CASE("CaptureScheduler sweeps the scan grid with MOVE + settle + trigger")
     CHECK(motor.cmds[0] == "MOVE 0,0");
     CHECK(sch.moving());
     CHECK(cam.triggers == 0);  // not yet settled
+    CHECK(cam.moves == 1);     // the cameras hear of every move (the thermal NUC)
 
     // At rest early: the frame waits for the interval, counted from the mode start.
     settleAt(motor, 0, 0);
@@ -103,6 +106,7 @@ TEST_CASE("CaptureScheduler sweeps the scan grid with MOVE + settle + trigger")
     clock = 1010;
     sch.tick();
     CHECK(motor.cmds.back() == "MOVE 900,0");
+    CHECK(cam.moves == 2);
     CHECK(sch.overruns() == 0);
 }
 

tests/test_tariscamerasource.cpp

@@ -35,6 +35,9 @@ struct FakeSdk {
     uint32_t w = 8, h = 4;
     Ret      no_frame = kErrNotFound;    // what getdata says before any frame
     std::atomic<bool> frozen{false};     // stop producing frames (stall)
+    std::atomic<int>  nuc_interval{30};  // the camera's own NUC timer, s
+    std::atomic<int>  nucs{0};           // NUC_Perform calls
+    std::atomic<int>  nuc_mode{0};
 
     void push(uint16_t v, uint16_t hot = 0) {
         std::lock_guard<std::mutex> l(m);
@@ -98,6 +101,7 @@ Ret fGetParam(Handle, uint32_t what, void* data, uint32_t type) {
         return kSuccess;
     }
     if (what == param::kCameraTempHousing && type == kTypeSingle) { *static_cast<float*>(data) = 308.15f; return kSuccess; }
+    if (what == param::kNucInterval && type == kTypeInt32) { *static_cast<int32_t*>(data) = g->nuc_interval; return kSuccess; }
     return kErrNotSupported;
 }
 Ret fSetParam(Handle, uint32_t what, void* data, uint32_t type) {
@@ -109,6 +113,17 @@ Ret fSetParam(Handle, uint32_t what, void* data, uint32_t type) {
     }
     if (what == param::kFramerateHz && type == kTypeSingle) { g->rate = *static_cast<float*>(data); return kSuccess; }
     if (what == param::kPollingEnable) return kSuccess;
+    if (what == param::kNucInterval && type == kTypeInt32) {
+        g->nuc_interval = *static_cast<int32_t*>(data);
+        return kSuccess;
+    }
+    if (what == param::kNucPerform && type == kType2Int32) {
+        // As the camera: the call returns when the NUC is done.
+        g->nuc_mode = static_cast<Int2*>(data)->value1;
+        ++g->nucs;
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        return kSuccess;
+    }
     return kErrNotSupported;
 }
 // A memory object is a copy of the newest frame.
@@ -368,6 +383,82 @@ TEST_CASE("a camera that goes quiet is reconnected") {
     CHECK(t.sdk.connects >= 2);
 }
 
+TEST_CASE("the program takes over the camera's NUC timer and hands it back") {
+    {
+        Harness t;
+        t.cam.open();
+        t.sdk.push(29315);
+        REQUIRE(t.online());
+        CHECK(t.sdk.nuc_interval == 0);   // the camera's own timer is off
+        t.cam.close();
+        CHECK(t.sdk.nuc_interval == 30);  // and back as found
+    }
+    {
+        auto o = fastOptions();
+        o.nuc_interval_ms = 0;            // leave it to the camera
+        Harness t(o);
+        t.cam.open();
+        t.sdk.push(29315);
+        REQUIRE(t.online());
+        t.cam.moving();
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        CHECK(t.sdk.nuc_interval == 30);
+        CHECK(t.sdk.nucs == 0);
+    }
+}
+
+TEST_CASE("a move runs a due NUC, and no more often than the interval") {
+    auto o            = fastOptions();
+    o.nuc_interval_ms = 400;
+    Harness t(o);
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    CHECK(t.sdk.nucs == 0);
+    t.cam.moving();                       // the first move after connecting runs one
+    CHECK(waitFor([&] { return t.sdk.nucs == 1; }, 1000));
+    CHECK(t.sdk.nuc_mode == kNucMode1Point);
+    t.cam.moving();                       // not due yet
+    std::this_thread::sleep_for(std::chrono::milliseconds(150));
+    CHECK(t.sdk.nucs == 1);
+    std::this_thread::sleep_for(std::chrono::milliseconds(300));
+    t.cam.moving();                       // due again
+    CHECK(waitFor([&] { return t.sdk.nucs == 2; }, 1000));
+}
+
+TEST_CASE("an overdue NUC runs without a move") {
+    auto o            = fastOptions();
+    o.nuc_interval_ms = 100;
+    Harness t(o);
+    t.cam.open();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    // Twice the interval with no move at all (manual mode, say).
+    CHECK(waitFor([&] { return t.sdk.nucs >= 1; }, 1500));
+}
+
+TEST_CASE("after a NUC only a frame from after it is taken") {
+    auto o            = fastOptions();
+    o.nuc_interval_ms = 400;
+    Harness t(o);
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    CHECK(t.cam.frameReady());
+    t.sdk.frozen = true;                  // nothing new comes during and after the NUC
+    t.cam.moving();
+    REQUIRE(waitFor([&] { return t.sdk.nucs == 1; }, 1000));
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    CHECK_FALSE(t.cam.frameReady());      // the frame from before the NUC is stale
+    CHECK_FALSE(t.cam.trigger());
+    t.sdk.frozen = false;
+    t.sdk.push(29400);
+    CHECK(waitFor([&] { return t.cam.frameReady(); }, 1000));
+    CHECK(t.shot());
+}
+
 TEST_CASE("a missing SDK library leaves the camera offline, not the program down") {
     auto o    = fastOptions();
     o.library = "libdoes_not_exist_irbgrab.so";