Note what the thermal camera's SDK costs in CPU on tower 111

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

CMakeLists.txt

@@ -94,6 +94,10 @@ add_library(fgc_core STATIC
   src/core/ChannelHistory.cpp
   src/core/ChannelTopics.cpp
   src/core/RawImage.cpp
+  src/core/ThermalStats.cpp
+  src/camera/IrbgrabApi.cpp
+  src/camera/TarisCameraSource.cpp
+  src/camera/CompositeCameraSource.cpp
   src/core/SettleRule.cpp
   src/core/ThermalGuard.cpp
   src/sensors/I2cBus.cpp
@@ -108,7 +112,7 @@ target_include_directories(fgc_core PUBLIC
   ${CMAKE_SOURCE_DIR}/include
   ${CMAKE_SOURCE_DIR}        # for the bundled ini.h
 )
-target_link_libraries(fgc_core PUBLIC Threads::Threads)
+target_link_libraries(fgc_core PUBLIC Threads::Threads ${CMAKE_DL_LIBS})
 # PUBLIC so the application and the tests both see the same build identity.
 target_compile_definitions(fgc_core PUBLIC FGC_GIT_REV="${FGC_GIT_REV}")
 

config/config.example.ini

@@ -70,7 +70,7 @@ demosaic = edge_aware
 ; generated human-readable record of the same settings; it configures nothing.
 [Camera.rgb]
 enabled = true
-driver = vimba                          ; only vimba is implemented
+driver = vimba                          ; vimba (colour) or taris (thermal, below)
 id = DEV_0000000000                     ; USB DEV_ id, or a GigE IP
 label = RGB                             ; output subdir + CamEvent "cam"
 profile_dir = camera_profiles/rgb
@@ -98,6 +98,27 @@ settle_rule = brightness
 settle_wait_ms = 2500
 frame_timeout_ms = 5000
 
+; --- A thermal camera (InfraTec TarisIR mini), beside the colour one ---------
+; It takes its picture at the same waypoints and intervals, right after the
+; colour camera, and both carry the same timestamp: RGB/<t>.jxl and TIR/<t>.jxl.
+; The counts are saved 16-bit and always lossless (jxl_distance must stay 0);
+; T[K] = count x 0.01 under profile 0, x 0.02 under profile 1, emissivity 1.
+; Its driver, id (the serial) and interface belong in hardware.ini; [Hardware]
+; cameras lists it. Needs the InfraTec SDK and licence on the tower, and
+; cap_net_raw on the binary (scripts/fgc-setcap, which deploy.sh runs) - see
+; docs/tower-installation.md. No settings XML: profile only names the timing.
+;[Camera.tir]
+;label = TIR
+;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
+;rotation_deg = 0
+;jxl_effort = 3
+;
+;[Camera.tir.standard]                  ; optional: without it 0 / 0, as it should be
+;settle_wait_ms = 0                     ; it takes the frame it already has
+;frame_timeout_ms = 0
+
 [Serial]
 ; Motor-controller serial device and baud rate.
 device = /dev/ttyACM0

config/hardware.example.ini

@@ -53,7 +53,8 @@ env     = sht41
 ; The legacy towers: off to 25 C, +20/255 per degree, full from 37.75 C, and full
 ; whenever the sensor cannot be read. Needs env = dht11 and [Pins] fan_pwm.
 ;cooling = fan
-; The [Camera.<name>] blocks expected to be present and found.
+; The [Camera.<name>] blocks expected to be present and found ("rgb, tir" with
+; the thermal camera).
 cameras = rgb
 ; How much bearing one picture covers, in degrees. Pan mode ('mode pan') cuts
 ; its span into as many pictures as this takes. 6 until the lens is measured.
@@ -64,6 +65,7 @@ pan_step_deg = 6
 ; (N5105) needs 2 workers for that. jxl_threads is libjxl's threads per frame;
 ; 0 or absent = 4 / save_workers. save_queue_max is how many frames may wait
 ; or be saving before the scan holds at its waypoint (each raw frame ~24 MB).
+; A thermal camera adds a frame per picture (0.6 MB): raise it by 2.
 save_workers   = 1
 ;jxl_threads   = 0
 save_queue_max = 4
@@ -247,3 +249,11 @@ has_encoder        = true
 ; The serial of the physical camera fitted to this tower. A USB DEV_ id, or a
 ; GigE IP address.
 id = DEV_1AB22C049CD1
+
+; A thermal camera (TarisIR mini): its serial number, as the SDK's search finds
+; it, and the network port it is cabled to (static address, no DHCP, MTU 1500;
+; only used to say what is wrong when the camera is not found).
+;[Camera.tir]
+;driver = taris
+;id = 2017744
+;interface = enp1s0

deploy.sh

@@ -308,6 +308,10 @@ ssh "$REMOTE_HOST" "$RESOLVE_CMAKE $CHECK_DEPS_CMD cd '$REMOTE_DIR' && \
     GIT_REV='$GIT_REV' \"\$CMAKE\" -S . -B build $CMAKE_ARGS && \
     \"\$CMAKE\" --build build $JOBS_FLAG"
 echo ">> build complete: $REMOTE_DIR/build/fire_gimbal_control"
+# The rebuilt binary has lost its capabilities; a thermal camera needs
+# cap_net_raw back (scripts/fgc-setcap). Without a thermal camera: nothing.
+# shellcheck disable=SC2029
+ssh "$REMOTE_HOST" "cd '$REMOTE_DIR' && scripts/fgc-setcap --if-thermal" || true
 
 # A pushed config.ini was written on another machine: check that it loads on
 # this one, with this tower's hardware.ini layered over it, before anyone runs it.

docs/architecture.md

@@ -17,7 +17,7 @@ The design separates **policy** (the control logic) from **mechanism** (the I/O
 |-----------|------|-------------|
 | `IMotorController` | `SerialMotorController` (Boost.Asio) | `MockMotorController` (simulated sweep) |
 | `IControlChannel` | `MqttControlChannel` (Paho) | `NullControlChannel` (no broker) |
-| `ICameraSource` | `VimbaCameraSource` (Vimba X) | `MockCameraSource` (synthetic frames) |
+| `ICameraSource` | `VimbaCameraSource` (Vimba X), `TarisCameraSource` (InfraTec TarisIR, thermal), both behind `CompositeCameraSource` | `MockCameraSource` (synthetic frames, also thermal counts) |
 | `IImuSource` | `MtiImuSource` (Xsens MTi, Boost.Asio) | `MockImuSource` (synthetic orientation) |
 | `IEnvSensor` | `Sht41EnvSensor` (SHT41 over I2C) | `MockEnvSensor` (synthetic temp/humidity) |
 
@@ -54,6 +54,7 @@ thread so all geometry/state mutation stays single-threaded.
 | Image worker | `ImagePipeline` | drains the frame queue: rotate → encode → write → publish |
 | MQTT client | Paho (internal) | delivers callbacks; auto-reconnects (no busy-wait loop) |
 | Camera acquisition | Vimba X (internal) | free-runs at the mode's frame rate and delivers frames via the observer, which keeps the latest complete one |
+| Thermal acquisition | `TarisCameraSource` worker | owns every SDK call: connects (and reconnects), polls the newest frame of counts, switches the calibration profile; `trigger()` only takes the kept frame |
 
 Shared state is mutex-guarded: latest `MotorTelemetry` (serial), `RemoteCommand` queue (channel), the frame queue
 (pipeline), the console command queue, and the latest `UiSnapshot`. The `CaptureScheduler` runs only on the
@@ -132,6 +133,23 @@ everything below is an implementation detail of the camera source. That is what
 
 ## Image capture
 
+### Two cameras, one array: `CompositeCameraSource`
+
+With a thermal camera the scheduler and the pipeline still see one
+`ICameraSource`. The composite numbers the colour cameras first (camera 0 is
+the one the keep rule reads) and the thermal one after them. Its `trigger()`
+asks the colour source first; only if that delivered does it ask the thermal
+source, which hands over its newest frame if it is no older than
+`max_frame_age_ms` and otherwise says no at once. Every frame of one trigger
+takes the colour frame's timestamp. The colour camera failing stops the run as
+before; the thermal one failing never does (`offline()` says why, Health
+`cams_offline` names it). Thermal frames are `Mono16` counts: the pipeline
+rotates them, takes `tmax`/`tmed`/hot spot on the rotated image
+(`ThermalStats.h`), and saves them 16-bit lossless whatever `jxl_distance` says.
+The SDK is declared in `IrbgrabApi.h` (not copied: its licence forbids that) and
+loaded with `dlopen`, so every build has the thermal code and its tests run
+against a fake SDK.
+
 ### The model: free-run, then hold still
 
 The camera **runs continuously** at the mode's frame rate with its own auto-exposure and auto-gain in

docs/configuration.md

@@ -62,10 +62,10 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
 | `Network` | `mqtt_user` / `mqtt_pw` | string | — | MQTT credentials (see secrets below) |
 | `Serial` | `device` | string | `/dev/ttyACM0` | Motor-controller serial device |
 | `Serial` | `baud` | int | `115200` | Serial baud rate |
-| `Camera.<name>` | `id` | string | — | USB `DEV_` id or GigE IP. Required when enabled |
+| `Camera.<name>` | `id` | string | — | `vimba`: USB `DEV_` id or GigE IP; `taris`: the camera's serial number. Required when enabled |
-| `Camera.<name>` | `driver` | `vimba` | `vimba` | Backend. Only `vimba` is implemented |
+| `Camera.<name>` | `driver` | `vimba` \| `taris` | `vimba` | Backend: Allied Vision Vimba X (colour), or InfraTec TarisIR (thermal, [below](#thermal-camera-driver--taris)). Colour cameras always come first in the camera order, whatever the block names |
 | `Camera.<name>` | `label` | string | the block name | Output subdirectory and `CamEvent` `cam` field |
-| `Camera.<name>` | `profile_dir` | string | — | Directory of profile XMLs; a profile named X is `<profile_dir>/X.xml`. A relative path resolves against the directory holding the `config.ini` in use |
+| `Camera.<name>` | `profile_dir` | string | — | `vimba` only. Directory of profile XMLs; a profile named X is `<profile_dir>/X.xml`. A relative path resolves against the directory holding the `config.ini` in use |
 | `Camera.<name>` | `profile` | string | `standard` | Profile to start in. Switch live with `set camera profile [<camera>] <name>` |
 | `Camera.<name>` | `enabled` | bool | `true` | A disabled camera is not opened and does not affect the scan timing |
 | `Camera.<name>` | `rotation_deg` | `0`/`90`/`180`/`270` | `0` | Clockwise rotation applied to that camera's saved images |
@@ -75,6 +75,11 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
 | `Camera` | `jxl_distance` / `jxl_effort` | double ≥ 0 / int 1..9 | `0.8` / `4` | Encoder defaults inherited by every camera block |
 | `Camera.<name>` | `jxl_distance` / `jxl_effort` | double ≥ 0 / int 1..9 | the `[Camera]` value | Per-camera override of the encoder settings. Distance 0 is truly lossless |
 | `Camera` / `Camera.<name>` | `demosaic` | `edge_aware` \| `bilinear` | `edge_aware` | How raw profiles (`BayerRG8`, `BayerRG12p`) are converted to colour on the tower |
+| `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`) | `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)) |
 | `Hardware` (hardware.ini) | `jxl_threads` | int 0..8 | `0` = 4 / `save_workers` | libjxl threads per saved frame |
 | `Hardware` (hardware.ini) | `save_queue_max` | int 1..32 | `4` | Frames waiting or being saved before the scan holds at its waypoint (a raw 16 MP frame is ~24 MB) |
@@ -1054,3 +1059,29 @@ grid (front to back, repeating); in **pan** mode it walks the pan's headings lef
 pitch, then starts again from the left edge (see [mqtt-api.md](mqtt-api.md#modes-auto-pan-manual)). Telemetry arrives as
 firmware `ST` lines (per-axis state + encoder counts), parsed by
 [TelemetryParser](../src/core/TelemetryParser.cpp).
+
+## Thermal camera (`driver = taris`)
+
+A TarisIR mini beside the colour camera takes its picture at the same waypoints
+and intervals: the colour camera is asked first, and only once it has delivered
+is the thermal one asked for its newest frame. Both frames carry the colour
+frame's timestamp, so `RGB/<t>.jxl` and `TIR/<t>.jxl` are a pair (and so are
+their CamEvents, see [mqtt-api.md](mqtt-api.md#thermal-camera-cam-tir)).
+
+- **Best effort.** A thermal camera that is missing, unlicensed or has no fresh
+  frame costs that picture its thermal image, nothing more: the scan goes on, the
+  camera reconnects by itself, and Health `cams_offline` names it meanwhile.
+- **Always lossless.** The counts are measurements; `jxl_distance` must be 0
+  (the default for this driver) and the loader refuses anything else.
+- **No settings XML.** The camera is set up from its keys; `profile` only picks a
+  `[Camera.<name>.<profile>]` timing block, which it does not need: without one
+  its wait is 0 and the colour camera's settle wait alone sets the pace. The
+  frame it hands over is at most `max_frame_age_ms` old, so that must stay below
+  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.
+- **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.
+- The binary needs `cap_net_raw` (the SDK uses a raw socket):
+  [tower-installation.md](tower-installation.md#phase-2b---thermal-camera).

docs/known-issues.md

@@ -166,8 +166,22 @@ scripts for this are worth keeping; note that wrapping them in `timeout` SIGTERM
   key features (`AcquisitionFrameRate`, `Width`, `PixelFormat`) would turn a silent misconfiguration into
   an error.
 - Graceful shutdown on SIGINT (currently exit via `exit`/Ctrl-D; a pending `getline` can delay shutdown).
-- Support a second camera backend. `driver` is parsed and validated but only `vimba` is accepted, so a
+- ~~Support a second camera backend.~~ Done for the thermal camera (`driver = taris`,
-  thermal or NIR unit needs a new `ICameraSource` implementation behind that key.
+  `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
+  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
+  tower 111, 2026-10-14). The frame rate does not change it. In the first minutes after deploying, the
+  CPU guard slowed the scan once (86 °C, back to normal after 2 min). Watch Health `cpu_c` over a warm
+  day before a tower without air flow gets a thermal camera.
+- Tower 111's colour profile does not apply: every start since 2026-10-07 logs `applying profile 'standard'
+  from .../rgb/standard.xml failed (error -39)`, and the camera runs on whatever it had. Unrelated to the
+  thermal camera; seen again while testing it.
+- Per-channel boresight: `[Motor]` heading and tilt calibration belong to the tower, but the thermal camera
+  sits on the gimbal with its own small offset against the colour one. `hotx`/`hoty` are therefore in the
+  thermal image's own frame; projecting them onto terrain needs a per-camera offset nobody has measured yet.
 - Reintroduce optional image upload to the ground station, config-driven (the old hardcoded NFS/SMB upload was
   removed).
 - **Calibration persistence needs the TUI.** `gimbal pitch setup` and `gimbal heading fit` are always

docs/mqtt-api.md

@@ -95,7 +95,7 @@ Built by `MqttControlChannel::publishCamEvent` from a `CamEvent`:
 | Field | Type | Meaning |
 |-------|------|---------|
 | `fwt` | string | Tower name (`config.ini` `tower_name`) |
-| `cam` | string | Camera label: `RGB`, `ACR`, or `NIR` (by camera index) |
+| `cam` | string | Camera label (`[Camera.<name>] label`): `RGB`, `TIR`, `ACR` or `NIR` |
 | `hdg` | int | Gimbal **true bearing** × 10 (0 = north) at capture time, from the **yaw encoder** |
 | `pit` | int | Gimbal pitch elevation **× 10** at capture time, from the **IMU** — elevation relative to gravity, i.e. true pointing angle (fallbacks below) |
 | `time` | int | Capture timestamp, Unix epoch **milliseconds** (matches the `.jxl` filename) |
@@ -135,6 +135,40 @@ Both `hdg` and `pit` are sampled **when the frame arrives**, not when its JPEG X
 finishes, so a slow encode or a backed-up queue cannot attribute a later pose to earlier
 pixels.
 
+#### Thermal camera (`cam: "TIR"`)
+
+A thermal camera's events carry six more fields; a colour camera's never do, and
+their payload is unchanged.
+
+```json
+{ "fwt":"ExampleTower", "cam":"TIR", "hdg":1373, "pit":300, "time":1719312345678,
+  "cal":0, "missed":0, "tmax":3015, "tmed":187, "hotx":0.7359, "hoty":0.5833 }
+```
+
+| Field | Type | Meaning |
+|-------|------|---------|
+| `cal` | int | Calibration profile the image was taken on. **Required to read the file**: it sets the counts' scale |
+| `missed` | int | GigE packets the SDK lost for this frame (transfer quality) |
+| `tmax` | int/null | Hottest pixel, **apparent** temperature in tenths of a °C |
+| `tmed` | int/null | Median of the image, tenths of a °C (the anchor for a display window) |
+| `hotx`, `hoty` | number/null | Where the hottest pixel is: its centre, 0..1 across and down the image **as stored** (after `rotation_deg`), as for detection boxes |
+
+- **Same `time` as the colour picture.** The thermal camera is asked right after
+  the colour one, at the same waypoint, and its event and file take the colour
+  frame's timestamp: `RGB/<time>.jxl` and `TIR/<time>.jxl` are one pair. A
+  picture the thermal camera had no fresh frame for has no `TIR` event.
+- **The file holds counts**, 16-bit single channel, lossless:
+  `T[K] = count × 0.01` under `cal` 0 (`FF (-40-120C)`), `× 0.02` under `cal` 1
+  (`FF (0-600C)`), valid for `count ≤ 65280` (above it the camera's table wraps;
+  0 is never a temperature).
+- **Apparent temperature**: emissivity and path transmission are taken as 1.
+  Vegetation (ε ≈ 0.97) over kilometres of air reads a few kelvin off its true
+  temperature; the counts keep every correction possible later. `tmax`/`tmed`
+  use the same convention, so they are for triage and display, not for a
+  reported fire temperature.
+- `null` in the four statistics means the frame had no valid pixel; `cal` and
+  `missed` are still set.
+
 CamEvent and Health leave through a small queue on their own thread, so a slow link
 never holds an image save or the control loop. If 64 are waiting, the oldest is
 dropped (and shows as dropped in the connectivity view).
@@ -149,8 +183,8 @@ The tower computer's heat and load, and whether the scan is slowed or paused for
 {"fwt":"t121","state":"paused","reason":"CPU at 93 °C for 20 s","guard":true,
  "cpu_c":93.0,"cpu_mhz":1188,"cpu_busy_pct":41,"throttling":true,
  "throttle_events_last_min":14,"enclosure_c":48.2,"saved_last_min":0,
- "save_ms_mean":null,"save_ms_max":null,"held_s":0,"interval_s":10.0,
+ "save_ms_mean":null,"save_ms_max":null,"cams_offline":"","held_s":0,
- "time":1759917600000}
+ "interval_s":10.0,"time":1759917600000}
 ```
 
 | Field | Type | Meaning |
@@ -164,7 +198,8 @@ The tower computer's heat and load, and whether the scan is slowed or paused for
 | `throttling` | bool | The CPU is slowing itself (kernel counters, or a low clock while busy) |
 | `throttle_events_last_min` | int | Kernel throttle events counted in the last minute |
 | `enclosure_c` | number/null | The ambient sensor (SHT41/DHT11), when there is one |
-| `saved_last_min`, `save_ms_mean`, `save_ms_max` | int, number/null | Pictures saved in the last minute and how long each took |
+| `saved_last_min`, `save_ms_mean`, `save_ms_max` | int, number/null | Pictures saved in the last minute and how long each took (every camera's: with a thermal camera, two per waypoint) |
+| `cams_offline` | string | Labels of cameras not delivering, comma-separated (`"TIR"`); `""` when all are. Only a camera the scan can do without - the thermal one - is ever listed: it reconnects by itself while the scan goes on |
 | `held_s` | int | How long the scan has been waiting for saving to catch up |
 | `interval_s` | number | Time between pictures now |
 | `time` | int | Unix epoch ms |

docs/tower-installation.md

@@ -884,6 +884,77 @@ Then `mode auto`, and confirm `.jxl` files appear under the configured output di
 > running an older binary, export the profiles (step 8) first or it will refuse
 > with `no camera profiles (*.xml)`.
 
+### Phase 2b - thermal camera
+
+Only for a tower with an InfraTec TarisIR mini (tower 111 since 2026-10). The
+program runs as the tower's user; the SDK needs three things from the system.
+
+1. **SDK and licence.** Packages `infratec-sdk-irbgrab` and
+   `infratec-itcamtarisirmini` (amd64), then the licence for the camera's serial
+   via the vendor's `copycustomerdata.sh` into `/var/lib/infratec/.license/`
+   (`root:infratec`, `rw-rw----`). **Repeat after every OS update.** Keep the
+   source files on the tower (`~/InfraTec/LINUX/` on 111) so it can be re-run.
+   The tower's user must be in group `infratec` (`id` shows it; `sudo usermod -aG
+   infratec ggs` and log in again otherwise). The library must be in the ld
+   cache: `ldconfig -p | grep irbgrab`.
+2. **Network.** Camera and port directly cabled, static address, **no DHCP**
+   (`dhcp4: false` in netplan: DHCP on a link without a server keeps failing and
+   takes the static address with it), **MTU 1500** - the camera does no jumbo
+   frames. The SDK finds the camera by serial and MAC on raw Ethernet; the IP
+   only matters to ordinary GigE Vision tools. On 111: `enp1s0`, 192.168.0.111,
+   camera 192.168.0.200.
+3. **`cap_net_raw` on the binary.** The SDK opens a raw `AF_PACKET` socket.
+   Rather than running the program as root, the binary gets this one
+   capability. A rebuild drops it, so `deploy.sh` and `install-tower` run
+   `scripts/fgc-setcap --if-thermal` after every build. Once per tower, let
+   deploy do that without a password:
+
+   ```bash
+   scripts/fgc-setcap --install-sudoers   # /etc/sudoers.d/fire-gimbal-control-setcap
+   scripts/fgc-setcap && getcap build/fire_gimbal_control
+   ```
+
+   A capability binary runs in the loader's secure mode (`LD_*` ignored, no core
+   dumps): check once that Vimba X still opens the colour camera, and that
+   `scripts/fgc status` and `stop` still find the process.
+
+Then hardware.ini (`driver = taris`, `id = <serial>`, `interface = enp1s0`,
+`cameras = rgb, tir`) and config.ini (`label = TIR`, see
+[configuration.md](configuration.md#thermal-camera-driver--taris)), and a run
+with the real cameras but no motors:
+
+```bash
+./build/fire_gimbal_control --mock-serial --mock-env --no-mqtt --no-tui
+```
+
+```
+[INFO ] IRBGRAB SDK 4.3.44
+[INFO ] thermal camera connected via SN:2017744|...|192.168.0.200#0
+[INFO ] thermal camera: profile 0, 0.01 K per count
+```
+
+`snapshot` then writes `RGB/<t>.jxl` and `TIR/<t>.jxl` with the same `<t>`.
+`camera calib` reports the profile. If the camera stays offline the log says
+why, once per change - `no cap_net_raw`, `not found (found: ...)`, the port's
+state and MTU. A `0x80000017` that keeps coming is the licence before it is the
+NUC.
+
+Measured on tower 111 (2026-10-14, SDK 4.3.44, SN 2017744):
+
+- `cap_net_raw` alone is enough; no root, no `cap_net_admin`. Vimba X still
+  opens the colour camera from the capability binary.
+- Connecting takes about 15 s (SDK init and search); the scan does not wait.
+- `Framerate_Hz` is settable. The LUT is empty for the first frame after
+  connecting and right from then on: 0.0099998 K/count (profile 0), 0.0199995
+  (profile 1).
+- 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.
+- 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.
+
 ### Phase 3 - the broker
 
 Set `[Features] enable_mqtt = true` and point `zkms_server_ip` at the broker.

include/fgc/CompositeCameraSource.h

@@ -0,0 +1,72 @@
+#pragma once
+
+#include "fgc/ICameraSource.h"
+
+#include <memory>
+#include <vector>
+
+namespace fgc {
+
+// Several camera sources behind one, so the scheduler and the pipeline keep
+// seeing a single camera array: the colour cameras through Vimba and the
+// thermal one through its own SDK take their pictures at the same waypoints
+// and intervals without either knowing about the other.
+//
+// The first child leads. Its cameras come first in the index order (camera 0
+// is its first camera, which the keep rule reads), and its trigger() decides
+// whether a picture was taken: only once it has delivered are the others
+// asked, so a retry while the leader waits never yields a second thermal
+// frame for the same waypoint. The others are best effort - a follower with
+// no fresh frame costs that picture its thermal image, nothing more.
+//
+// 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.
+//
+// Indices are global: child k's camera i is offset(k) + i. Calls about one
+// camera go to the child that has it.
+//
+// The offsets come from `counts`, how many cameras each child is configured
+// with, not from cameraCount(): VimbaCameraSource counts what it has opened,
+// which is 0 before open(), and a thermal frame numbered from that landed as
+// camera 0 - the colour camera's label and file (seen on tower 111). Without
+// counts, each child's cameraCount() at construction is taken.
+class CompositeCameraSource : public ICameraSource {
+public:
+    explicit CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>> children,
+                                   std::vector<int> counts = {});
+
+    void open() override;
+    void close() override;
+    void start() override;
+    void stop() override;
+    bool trigger() override;
+    bool setProfile(int camera_index, const CameraProfile& profile) override;
+    void setFrameCallback(FrameCallback cb) override;
+    uint64_t                frameSeq() override;
+    std::vector<FrameStats> framesSince(uint64_t after) override;
+    bool readFeature(int camera_index, const std::string& name, double& value) override;
+    int  cameraCount() const override;
+    std::vector<CameraDeviceInfo> deviceInfo() override;
+    std::string offline(int camera_index) override;
+    bool grabFrame(int camera_index, Frame& out, int timeout_ms) override;
+    bool setFeature(int camera_index, const std::string& name, const std::string& value) override;
+    bool featureRange(int camera_index, const std::string& name, double& min, double& max) override;
+    bool restoreProfile(int camera_index) override;
+    bool resetCamera(int camera_index) override;
+
+    size_t         childCount() const { return children_.size(); }
+    ICameraSource& child(size_t k) { return *children_[k]; }
+
+private:
+    // The child holding a global index and its index there; nullptr if none.
+    ICameraSource* route(int camera_index, int& local) const;
+
+    std::vector<std::unique_ptr<ICameraSource>> children_;
+    std::vector<int> counts_;      // cameras each child is configured with
+    std::vector<int> offsets_;     // global index of each child's camera 0
+    FrameCallback    callback_;
+    bool             in_trigger_ = false;
+    long long        shot_ts_    = 0;   // the leader's frame time, during a trigger
+};
+
+}  // namespace fgc

include/fgc/Config.h

@@ -199,11 +199,14 @@ struct CameraProfileTiming {
 struct CameraSpec {
     std::string name;                    // the block suffix, e.g. "rgb"
     bool        enabled = true;
-    std::string driver  = "vimba";       // only "vimba" is implemented
+    // "vimba" (Allied Vision, colour) or "taris" (InfraTec TarisIR, thermal).
-    std::string id;                      // USB DEV_ id or GigE IP
+    std::string driver  = "vimba";
+    std::string id;                      // vimba: USB DEV_ id or GigE IP; taris: serial number
     std::string label;                   // output subdir + CamEvent "cam"; defaults to name
-    std::string profile_dir;             // relative => resolved next to config.ini
+    std::string profile_dir;             // vimba only; relative => resolved next to config.ini
-    std::string profile = "standard";    // which profile to start in
+    // Which profile to start in. For vimba a settings XML in profile_dir; for
+    // taris only the name of a timing block, the camera having no settings file.
+    std::string profile = "standard";
     int         rotation_deg = 0;        // clockwise; 0/90/180/270
 
     // Encoding, defaulted from [Camera] and overridable per camera.
@@ -212,6 +215,19 @@ struct CameraSpec {
     // De-Bayering for raw profiles (BayerRG8/12p): "edge_aware" or "bilinear".
     std::string demosaic = "edge_aware";
 
+    // ---- driver = taris only (TarisCameraSource.h) ----
+    // Operation (config.ini):
+    int         calib_profile    = 0;      // camera calibration profile; sets the counts' scale
+    double      frame_rate_hz    = 5.0;    // the camera free-runs at this rate, throttled
+    // A frame older than this at capture is not kept. Must stay below the scan's
+    // 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
+    // Mounting (hardware.ini): the camera's network port, for diagnostics only.
+    std::string interface;
+
+    bool thermal() const { return driver == "taris"; }
+
     std::map<std::string, CameraProfileTiming> timing;   // by profile name
 
     // Timing for `profile`, or the defaults when the block does not name it.
@@ -219,7 +235,10 @@ struct CameraSpec {
 };
 
 struct CameraConfig {
-    std::vector<CameraSpec> cameras;     // in config order; empty is a config error
+    // Colour (vimba) cameras first, then thermal ones, each group in block-name
+    // order: camera 0 is the one the keep rule and the scan pace follow, and
+    // that must be a colour camera. Empty is a config error.
+    std::vector<CameraSpec> cameras;
     // [Camera] defaults, inherited by each block unless it overrides them.
     double jxl_distance = 0.8;
     int    jxl_effort   = 4;

include/fgc/ICameraSource.h

@@ -3,9 +3,11 @@
 #include "fgc/CameraProfile.h"
 #include "fgc/RawImage.h"
 #include "fgc/SettleRule.h"
+#include "fgc/ThermalStats.h"
 
 #include <cstdint>
 #include <functional>
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -32,6 +34,8 @@ struct Frame {
     // Sampled from `data` on arrival (see RawImage.h); invalid when the layout
     // is Unknown.
     BrightnessSample brightness;
+    // Set by a thermal camera only: how to read its Mono16 counts.
+    std::optional<ThermalFrameInfo> thermal;
 };
 
 // Live per-camera identity, sensor telemetry, and acquisition stats, for the
@@ -113,6 +117,12 @@ public:
     // Default: none. Implementations may refresh a throttled cache, so non-const.
     virtual std::vector<CameraDeviceInfo> deviceInfo() { return {}; }
 
+    // Why one camera delivers nothing right now ("not found on the network"),
+    // or empty while it works. For a camera the scan can do without (the
+    // thermal one), which reconnects by itself rather than stopping the run.
+    // Default: always working.
+    virtual std::string offline(int /*camera_index*/) { return {}; }
+
     // ---- For `test camera` only ------------------------------------------------
     // The camera's configuration otherwise changes through setProfile() and
     // nothing else; these let the self-test drive a camera to known extremes and

include/fgc/IControlChannel.h

@@ -1,17 +1,32 @@
 #pragma once
 
+#include <optional>
 #include <string>
 #include <vector>
 
 namespace fgc {
 
+// What a thermal camera's CamEvent carries beyond the common fields (see
+// docs/mqtt-api.md). Temperatures are apparent (emissivity 1), in tenths of a
+// degree Celsius; the hot spot is normalised 0..1 across the stored image.
+struct ThermalEventFields {
+    int    cal = 0;              // calibration profile: says how to read the counts
+    int    missed = 0;           // GigE packets lost for this frame
+    bool   stats_ok = false;     // false: no valid pixel, the four below go out as null
+    int    tmax_decic = 0;
+    int    tmed_decic = 0;
+    double hotx = 0.0;
+    double hoty = 0.0;
+};
+
 // Notification published after an image is captured and saved.
 struct CamEvent {
     std::string tower;          // tower / FWT name
-    std::string camera;         // "RGB" / "ACR" / "NIR"
+    std::string camera;         // "RGB" / "TIR" / "ACR" / "NIR"
     int         heading_decideg = 0;  // yaw heading * 10 (one decimal as integer)
     int         pitch_decideg = 0;    // pitch elevation * 10 (one decimal as integer)
     long long   timestamp_ms = 0;     // Unix epoch ms; matches the image filename
+    std::optional<ThermalEventFields> thermal;  // thermal cameras only
 };
 
 // The tower computer's health, on GGS/FWT/<tower>/Health (retained): the CPU
@@ -34,6 +49,7 @@ struct HealthReport {
     int         save_count_last_min = 0;
     double      save_ms_mean = 0.0;
     double      save_ms_max = 0.0;
+    std::string cams_offline;             // labels of cameras not delivering, comma-separated
     long long   held_s = 0;               // the scan waiting for saving, seconds
     double      interval_s = 0.0;         // the time between pictures now
     long long   timestamp_ms = 0;         // Unix epoch ms

include/fgc/ImagePipeline.h

@@ -26,7 +26,9 @@ struct Orientation {
 // Camera.rotation_deg, encode to JPEG XL, write to
 // <output_dir>/<label>/<timestamp>.jxl, and publish a CamEvent. Raw frames
 // (BayerRG8, BayerRG12p) are de-Bayered first and saved at their own bit depth,
-// so a 12-bit frame becomes a 12-bit file. Runs background workers so encoding
+// so a 12-bit frame becomes a 12-bit file. Thermal counts (Mono16) are saved
+// as they are, 16-bit and always lossless, and their CamEvent carries the
+// frame's temperature figures (ThermalStats.h). Runs background workers so encoding
 // never blocks acquisition. Split out of the old VimbaHandler::SaveImage so any
 // camera source (real or mock) can feed it.
 class ImagePipeline {
@@ -89,6 +91,8 @@ public:
     // Last CamEvent published (camera label, heading/pitch, timestamp), for the
     // UI's camera panel. Thread-safe; nullopt until the first capture is saved.
     std::optional<CamEvent> lastEvent() const;
+    // The same for the last thermal picture only (its event carries `thermal`).
+    std::optional<CamEvent> lastThermalEvent() const;
 
     // Number of images successfully written this session (for the camera view).
     long long imagesSaved() const { return saved_.load(); }
@@ -117,8 +121,10 @@ private:
 
     void run();
     void process(const QueuedFrame& queued);
-    // Encode and write one image; false (logged) on failure.
+    // Encode and write one image; false (logged) on failure. For a thermal
-    bool save(const Frame& frame, const CameraOutput& out, const std::string& file);
+    // frame, `stats` receives its figures, taken after rotation.
+    bool save(const Frame& frame, const CameraOutput& out, const std::string& file,
+              ThermalStats* stats = nullptr);
     // Output settings for a camera index, or sane defaults if the index is out of
     // range (a source delivering more cameras than were configured).
     const CameraOutput& outputFor(int cam_id) const;
@@ -136,6 +142,7 @@ private:
 
     mutable std::mutex      last_event_mutex_;
     std::optional<CamEvent> last_event_;
+    std::optional<CamEvent> last_thermal_event_;
     std::atomic<long long>  saved_{0};  // images successfully written this session
 
     // (steady ms when done, save ms) of each picture saved in the last minute.

include/fgc/IrbgrabApi.h

@@ -0,0 +1,134 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <memory>
+#include <string>
+
+// The few calls of InfraTec's IRBGRAB SDK (libirbgrab, v4) that the thermal
+// camera needs, declared here rather than taken from the SDK's own headers:
+// the SDK is licensed per tower and may not be copied into this repository or
+// a build image. Everything below was established against the installed SDK
+// (4.3.44) and a TarisIR mini - see TarisIR-Integration.md in the workspace.
+//
+// The library is loaded at run time (dlopen), so the program builds and its
+// tests run on machines that have never seen the SDK; a tower without it
+// simply has no thermal camera.
+namespace fgc::irbgrab {
+
+using Handle = size_t;      // the SDK's handles are pointer-sized integers
+using Ret    = uint32_t;
+
+// Return codes: a type in the top bits, a code below.
+inline constexpr Ret kTypeOk     = 0x10000000;
+inline constexpr Ret kTypeStatus = 0x20000000;
+inline constexpr Ret kTypeErr    = 0x80000000;
+inline constexpr Ret kSuccess    = kTypeOk | 0x01;
+inline constexpr Ret kErrNotSupported = kTypeErr | 0x02;
+inline constexpr Ret kErrNotFound     = kTypeErr | 0x03;
+// Means both "NUC in progress" and "invalid licence". With the licence
+// installed correctly it was never seen in testing, so when it piles up the
+// licence is the first suspect.
+inline constexpr Ret kErrNucOrLicence = 0x80000017;
+
+inline bool ok(Ret r) { return r == kSuccess; }
+
+// Fixed text buffers the SDK fills.
+inline constexpr int kCharBuffer = 1024;
+
+// What dev_getdata hands out.
+enum MemObject : int32_t {
+    kMemBitmap32     = 1,
+    kMemIrDigitFrame = 2,   // uint16 counts: what is archived
+    kMemTemperatures = 3,   // float32 Kelvin: the counts through the LUT, nothing more
+};
+
+// Parameter ids (dev_getparam / dev_setparam).
+namespace param {
+inline constexpr uint32_t kCalibMaxFrameRate     = 117;
+inline constexpr uint32_t kCalibChangeInProgress = 118;
+inline constexpr uint32_t kCalibCount            = 119;
+inline constexpr uint32_t kCalibActive           = 120;
+inline constexpr uint32_t kCalibName             = 121;
+inline constexpr uint32_t kPollingEnable         = 184;   // getdata without a callback
+inline constexpr uint32_t kSearchString          = 202;
+inline constexpr uint32_t kCameraName            = 203;
+inline constexpr uint32_t kCameraSerialNum       = 211;
+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;
+}  // namespace param
+
+#pragma pack(push, 1)
+struct String {
+    char*   text;
+    int32_t len;
+};
+struct IdxString {
+    int32_t index;
+    String  value;
+};
+struct IdxInt32 {
+    int32_t index;
+    int32_t value;
+};
+// Per-frame information (mem_getinfo). struct_size must be set before the call.
+struct MemInfo {
+    int32_t struct_size;
+    int32_t triggered;
+    double  timestamp_ms;      // since the grab started
+    int64_t image_num;
+    int32_t missed_packets;
+};
+#pragma pack(pop)
+
+// Data type tokens: base type | extension | size of what the pointer points at.
+inline constexpr uint32_t kBaseInt32   = 0x40000000;
+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 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);
+
+// The entry points, as function pointers so a test can stand in for the SDK.
+struct Api {
+    Ret  (*dll_init)()                                         = nullptr;
+    void (*dll_uninit)()                                       = nullptr;
+    Ret  (*dll_version)(char* buf, int len)                    = nullptr;
+    Ret  (*dll_devicetypenames)(char* buf, int len)            = nullptr;   // ';'-separated
+    Ret  (*dev_create)(Handle* dev, int32_t type, char* ini)   = nullptr;
+    Ret  (*dev_free)(Handle* dev)                              = nullptr;
+    Ret  (*dev_search)(Handle dev, int32_t* count)             = nullptr;
+    Ret  (*dev_connect)(Handle dev, char* search)              = nullptr;
+    Ret  (*dev_disconnect)(Handle dev)                         = nullptr;
+    Ret  (*dev_startgrab)(Handle dev, int32_t stream)          = nullptr;
+    Ret  (*dev_stopgrab)(Handle dev, int32_t stream)           = nullptr;
+    Ret  (*dev_getparam)(Handle dev, uint32_t what, void* data, uint32_t type) = nullptr;
+    Ret  (*dev_setparam)(Handle dev, uint32_t what, void* data, uint32_t type) = nullptr;
+    Ret  (*dev_getdata)(Handle dev, int32_t what, Handle* mem) = nullptr;
+    Ret  (*mem_free)(Handle* mem)                              = nullptr;
+    Ret  (*mem_getdimension)(Handle mem, uint32_t* w, uint32_t* h, uint32_t* type) = nullptr;
+    Ret  (*mem_getdataptr)(Handle mem, Handle* data, int32_t* bytes) = nullptr;
+    Ret  (*mem_getinfo)(Handle mem, void* info)                = nullptr;
+    // The counts-to-Kelvin table (65536 floats) for the given emissivity,
+    // transmission, environment and path temperature.
+    Ret  (*mem_getdvlut)(Handle mem, void* lut, float eps, float tau, float t_env,
+                         float t_path)                         = nullptr;
+};
+
+// Load the SDK. RTLD_GLOBAL, because the camera plugins it loads in dll_init()
+// resolve their symbols against it; without it no device type registers. The
+// library stays loaded for the life of the process. nullptr, with `error` set,
+// if the library or one of its entry points is missing.
+std::shared_ptr<const Api> load(const std::string& library, std::string& error);
+
+// "0x80000017 (NUC in progress or invalid licence)", for logs.
+std::string describe(Ret r);
+
+}  // namespace fgc::irbgrab

include/fgc/RawImage.h

@@ -17,10 +17,12 @@ namespace fgc {
 //   BayerRG12p   the same mosaic at 12 bits, packed: two pixels in three bytes
 //                (GenICam "12p": p0 = b0 | (b1 & 0x0F) << 8,
 //                                p1 = b1 >> 4 | b2 << 4)
+//   Mono16       two bytes per pixel, grey, host byte order - the thermal
+//                camera's counts (TarisCameraSource.h), all 16 bits used
 //
 // OpenCV names Bayer patterns by the second row, so the camera's BayerRG is
 // OpenCV's COLOR_BayerBG2* (measured 2026-09-30 against the camera's own RGB8).
-enum class PixelLayout { Unknown, Mono8, RGB8, BayerRG8, BayerRG12p };
+enum class PixelLayout { Unknown, Mono8, RGB8, BayerRG8, BayerRG12p, Mono16 };
 
 // The GenICam name ("BayerRG12p"), or "Unknown".
 const char* layoutName(PixelLayout layout);
@@ -29,7 +31,7 @@ PixelLayout layoutFromName(const std::string& name);
 
 // True for the raw mosaic layouts, which need de-Bayering before saving as colour.
 bool layoutIsBayer(PixelLayout layout);
-// Bits per value as delivered: 8, or 12 for BayerRG12p. 0 for Unknown.
+// Bits per value as delivered: 8, 12 for BayerRG12p, 16 for Mono16. 0 for Unknown.
 int layoutBits(PixelLayout layout);
 // Bytes one frame of width x height takes in this layout (0 for Unknown).
 size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height);
@@ -42,7 +44,8 @@ void unpack12p(const uint8_t* in, uint16_t* out, size_t pixels);
 // Brightness of a frame from a sparse sample of its pixels: every `stride`-th
 // pixel, so all colour sites of a mosaic are visited. Cheap enough to run on
 // every frame the camera delivers (a few thousand samples).
-//   mean     on a 0..255 scale whatever the bit depth (12-bit values / 16)
+//   mean     on a 0..255 scale whatever the bit depth (12-bit values / 16,
+//            16-bit values / 256)
 //   clipped  share of samples at or near white (>= 250 on that scale)
 struct BrightnessSample {
     double mean    = -1.0;

include/fgc/TarisCameraSource.h

@@ -0,0 +1,81 @@
+#pragma once
+
+#include "fgc/Config.h"
+#include "fgc/ICameraSource.h"
+#include "fgc/IrbgrabApi.h"
+
+#include <functional>
+#include <memory>
+#include <string>
+
+namespace fgc {
+
+// The thermal camera: an InfraTec TarisIR mini through the IRBGRAB SDK
+// (IrbgrabApi.h), one camera per source.
+//
+// The camera is kept grabbing from open() to close(), whatever the scan does:
+// a microbolometer that is stopped and restarted starts with zero frames and a
+// fresh NUC. A worker thread owns every SDK call - connecting, polling the
+// newest frame of counts, switching the calibration profile, reconnecting
+// when the camera goes quiet - so nothing here ever blocks the control loop.
+// trigger() hands over the newest frame if it is fresh enough, and otherwise
+// says no at once: the thermal picture of a waypoint is best effort, the
+// colour camera's is not.
+//
+// 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.
+class TarisCameraSource : public ICameraSource {
+public:
+    struct Options {
+        std::string serial;                  // the camera's serial number
+        int         calib_profile    = 0;
+        double      frame_rate_hz    = 5.0;
+        int         max_frame_age_ms = 400;
+        std::string library          = "libirbgrab_x86_64-linux.so";
+        std::string interface;               // for diagnostics only; may be empty
+        int         stall_ms         = 5000; // connected but no frame this long: reconnect
+        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
+    };
+    static Options fromSpec(const CameraSpec& spec);
+
+    // api: the SDK, or null to load opts.library when the worker starts.
+    // has_net_raw: may this process open a raw socket (the SDK needs one)?
+    // Null: read the effective capabilities from /proc/self/status.
+    explicit TarisCameraSource(Options opts, std::shared_ptr<const irbgrab::Api> api = nullptr,
+                               std::function<bool()> has_net_raw = nullptr);
+    ~TarisCameraSource() override;
+
+    void open() override;
+    void close() override;
+    // Only open and close delivery; the camera keeps grabbing either way.
+    void start() override;
+    void stop() override;
+    bool trigger() override;
+    void setFrameCallback(FrameCallback cb) override;
+    int  cameraCount() const override { return 1; }
+    std::vector<CameraDeviceInfo> deviceInfo() override;
+    std::string offline(int camera_index) override;
+    bool grabFrame(int camera_index, Frame& out, int timeout_ms) override;
+    // "CalibProfile" (index), "KelvinPerCount", "HousingTemperature" (degC).
+    bool readFeature(int camera_index, const std::string& name, double& value) override;
+    // "CalibProfile": switch, and wait until the camera has (seconds).
+    bool setFeature(int camera_index, const std::string& name, const std::string& value) override;
+    // Disconnect and connect again; waits until it is back or gives up.
+    bool resetCamera(int camera_index) override;
+
+    // The counts' scale the profiles are documented to have (TarisIR mini):
+    // 0.01 K for profile 0, 0.02 K for profile 1; 0 for any other.
+    static double expectedKelvinPerCount(int calib_profile);
+
+    // Does /proc/self/status grant CAP_NET_RAW?
+    static bool processHasNetRaw();
+
+private:
+    struct Impl;
+    std::unique_ptr<Impl> impl_;
+};
+
+}  // namespace fgc

include/fgc/ThermalStats.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+namespace fgc {
+
+// What a thermal camera reports about one frame besides its pixels. The pixels
+// themselves are counts (PixelLayout::Mono16): already calibrated apparent
+// temperature, T[K] = count * kelvin_per_count, with emissivity and path
+// transmission both taken as 1. The scale depends on the camera's active
+// calibration profile, so a count means nothing without `cal`.
+struct ThermalFrameInfo {
+    int       cal              = 0;      // active calibration profile index
+    double    kelvin_per_count = 0.01;   // K per count under that profile
+    uint16_t  valid_count_max  = 65280;  // above this the camera's LUT wraps
+    int       missed_packets   = 0;      // GigE packets the SDK lost for this frame
+    long long image_num        = -1;     // the camera's own frame counter
+};
+
+// The per-frame figures that go into a thermal CamEvent. Temperatures are the
+// apparent temperature in tenths of a degree Celsius; the hot spot is the
+// pixel centre, normalised 0..1 across the image as stored.
+struct ThermalStats {
+    bool     valid = false;      // false: no pixel in the valid range
+    size_t   valid_pixels = 0;
+    uint16_t max_count = 0;
+    uint16_t median_count = 0;
+    int      tmax_decic = 0;
+    int      tmed_decic = 0;
+    double   hotx = 0.0;
+    double   hoty = 0.0;
+};
+
+// Tenths of a degree Celsius for a count, rounded to nearest.
+int countsToDeciC(uint32_t count, double kelvin_per_count);
+
+// Maximum (its first occurrence, row-major), median and hot spot of a
+// width x height image of counts. Only counts in 1..info.valid_count_max take
+// part: 0 is what the camera sends before its first real frame, and anything
+// above the limit has wrapped.
+ThermalStats thermalStats(const uint16_t* counts, uint32_t width, uint32_t height,
+                          const ThermalFrameInfo& info);
+
+}  // namespace fgc

include/fgc/mock/MockCameraSource.h

@@ -5,6 +5,7 @@
 
 #include <algorithm>
 #include <chrono>
+#include <cstring>
 #include <map>
 #include <string>
 #include <thread>
@@ -13,8 +14,10 @@ namespace fgc {
 
 // Synthetic camera for development without hardware. On trigger() it generates
 // a small gradient frame (varying with time so successive captures differ) and
-// delivers it to the frame callback - as RGB8 by default, or as the raw mosaic
+// delivers it to the frame callback - as RGB8 by default, as the raw mosaic
-// (BayerRG8, BayerRG12p) a raw-capture profile would deliver. setProfile() only
+// (BayerRG8, BayerRG12p) a raw-capture profile would deliver, or as a thermal
+// camera's counts (Mono16: a 15..25 degC gradient with one 300 degC spot that
+// moves with time, profile 0). setProfile() only
 // records the profile name - there is no sensor to configure - which is enough
 // to exercise profile switching end to end with --mock-camera.
 class MockCameraSource : public ICameraSource {
@@ -54,6 +57,11 @@ public:
     }
     bool readFeature(int camera_index, const std::string& name, double& value) override {
         if (camera_index < 0 || camera_index >= count_) return false;
+        if (layout_ == PixelLayout::Mono16) {   // a thermal camera, like TarisCameraSource
+            if (name == "CalibProfile")   { value = 0.0;  return true; }
+            if (name == "KelvinPerCount") { value = 0.01; return true; }
+            return false;
+        }
         if (name == "IntensityControllerTarget")    { value = 50.0;    return true; }
         if (name == "IntensityControllerTolerance") { value = 5.0;     return true; }
         if (name == "ExposureAutoMin")              { value = 82.0;    return true; }
@@ -95,6 +103,7 @@ public:
     bool featureRange(int camera_index, const std::string& name, double& min,
                       double& max) override {
         if (camera_index < 0 || camera_index >= count_) return false;
+        if (layout_ == PixelLayout::Mono16) return false;   // a thermal camera: no exposure
         if (name == "ExposureTime") { min = 66.357; max = 9999971.0; return true; }
         if (name == "Gain")         { min = 0.0;    max = 48.0;      return true; }
         if (name == "BlackLevel")   { min = 0.0;    max = 4095.0;    return true; }
@@ -137,6 +146,7 @@ private:
     // A mid-grey gradient frame. The pattern varies with time so successive
     // captures differ.
     Frame synth() const {
+        if (layout_ == PixelLayout::Mono16) return thermal();
         Frame f;
         f.width    = width_;
         f.height   = height_;
@@ -182,6 +192,31 @@ private:
         return f;
     }
 
+    // A thermal scene in counts at 0.01 K per count.
+    Frame thermal() const {
+        Frame f;
+        f.width    = width_;
+        f.height   = height_;
+        f.channels = 1;
+        f.layout   = PixelLayout::Mono16;
+        f.cam_id   = 0;
+        f.timestamp_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
+                             std::chrono::system_clock::now().time_since_epoch())
+                             .count();
+        std::vector<uint16_t> px(static_cast<size_t>(width_) * height_);
+        for (uint32_t y = 0; y < height_; ++y)
+            for (uint32_t x = 0; x < width_; ++x)   // 288.15 K at the top .. 298.15 K
+                px[static_cast<size_t>(y) * width_ + x] =
+                    static_cast<uint16_t>(28815 + 1000 * y / std::max<uint32_t>(1, height_ - 1));
+        const uint32_t hx = static_cast<uint32_t>(f.timestamp_ms / 100) % width_;
+        px[static_cast<size_t>(height_ / 2) * width_ + hx] = 57315;   // 300 degC
+        f.data.resize(px.size() * 2);
+        std::memcpy(f.data.data(), px.data(), f.data.size());
+        f.brightness = sampleBrightness(f.data.data(), f.data.size(), f.layout, f.width, f.height);
+        f.thermal    = ThermalFrameInfo{};
+        return f;
+    }
+
     // The RGB frame as the sensor would see it: each pixel keeps only the colour
     // of its filter (BayerRG: R G / G B), 8-bit or packed 12-bit.
     Frame mosaic(const Frame& rgb) const {

include/fgc/mock/NullControlChannel.h

@@ -33,10 +33,9 @@ public:
         drop(kTopicStatusCode, payload);
     }
     void publishCamEvent(const CamEvent& e) override {
-        LOG_TRACE_CAT(LogCat::Mqtt) << "PUB CamEvent cam=" << e.camera
+        const std::string payload = camEventJson(e);
-                                    << " hdg=" << e.heading_decideg << " t=" << e.timestamp_ms
+        LOG_TRACE_CAT(LogCat::Mqtt) << "PUB CamEvent " << payload << " (null channel)";
-                                    << " (null channel)";
+        drop(kTopicCamEvent, payload);
-        drop(kTopicCamEvent, camEventJson(e));
     }
     void publishHealth(const HealthReport& h) override {
         ++health_published_;

include/fgc/ui/UiSnapshot.h

@@ -144,6 +144,7 @@ struct CameraDeviceView {
     unsigned    width = 0, height = 0;   long long payload_bytes = 0;
     double      exposure_us = 0, gain_db = 0, temperature_c = 0, actual_fps = 0;
     long long   frames_delivered = 0, frames_dropped = 0, restarts = 0;
+    std::string offline;                 // why it delivers nothing; empty while it does
 };
 
 struct CaptureView {
@@ -172,6 +173,15 @@ struct CaptureView {
     double                   last_heading_deg = 0.0;
     double                   last_pitch_deg   = 0.0;
     long long                last_ts_ms       = 0;
+
+    // Last thermal picture (ImagePipeline::lastThermalEvent()): its apparent
+    // temperatures, so a hot spot shows on the dashboard without the archive.
+    bool                     has_thermal      = false;
+    int                      thermal_cal      = 0;
+    bool                     thermal_stats_ok = false;
+    double                   thermal_max_c    = 0.0;
+    double                   thermal_med_c    = 0.0;
+    long long                thermal_ts_ms    = 0;
 };
 
 struct ConnView {

scripts/fgc-setcap

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+# Give fire_gimbal_control the one privilege the thermal camera needs.
+#
+# The InfraTec SDK talks to the TarisIR over a raw AF_PACKET socket, which
+# takes CAP_NET_RAW. Rather than running the whole program - motors, MQTT
+# remote control and all - as root, the binary gets that one capability and
+# keeps running as the tower's user. A rebuild replaces the binary and with it
+# the capability, so deploy.sh and install-tower run this after every build.
+#
+#   scripts/fgc-setcap                    set it (asks for the sudo password)
+#   scripts/fgc-setcap --if-thermal       ... only if a [Camera.*] has driver = taris;
+#                                         never fails, says what is missing
+#   scripts/fgc-setcap --check            exit 0 if the binary has it
+#   scripts/fgc-setcap --install-sudoers  allow exactly this setcap without a
+#                                         password, so deploy.sh can run it
+#
+# A binary with file capabilities runs in the loader's secure mode: LD_* is
+# ignored and no core dumps are written. So the SDK (/usr/lib/infratec, in the
+# ld cache) and Vimba X must be found without LD_LIBRARY_PATH - see
+# docs/tower-installation.md, "Thermal camera", for the check.
+set -euo pipefail
+
+REPO=$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)
+BIN="$REPO/build/fire_gimbal_control"
+CAPS="cap_net_raw+ep"
+SETCAP=/usr/sbin/setcap   # fixed: the sudoers rule names this exact path
+[[ -x $SETCAP ]] || SETCAP=$(command -v setcap 2>/dev/null || echo /usr/sbin/setcap)
+SUDOERS=/etc/sudoers.d/fire-gimbal-control-setcap
+HW=/etc/fire_gimbal_control/hardware.ini
+
+thermal_configured() {
+    local f cfg
+    cfg=$("$REPO/scripts/tower-config" where 2>/dev/null || true)
+    for f in "$cfg" "$REPO/config.ini" "$HW"; do
+        [[ -r $f ]] && grep -Eqi '^[[:space:]]*driver[[:space:]]*=[[:space:]]*taris' "$f" && return 0
+    done
+    return 1
+}
+
+has_cap() { command -v getcap > /dev/null && getcap "$BIN" 2>/dev/null | grep -q cap_net_raw; }
+
+set_cap() {
+    [[ -x $BIN ]] || { echo "fgc-setcap: $BIN not built yet" >&2; return 1; }
+    if sudo -n "$SETCAP" "$CAPS" "$BIN" 2>/dev/null; then :
+    elif [[ -t 0 ]]; then sudo "$SETCAP" "$CAPS" "$BIN"
+    else return 1
+    fi
+    has_cap
+}
+
+case "${1:-}" in
+    --check)
+        has_cap
+        ;;
+    --install-sudoers)
+        rule="$(id -un) ALL=(root) NOPASSWD: $SETCAP $CAPS $BIN"
+        tmp=$(mktemp)
+        trap 'rm -f "$tmp"' EXIT
+        printf '# fire_gimbal_control: the thermal camera needs cap_net_raw after every build\n%s\n' \
+            "$rule" > "$tmp"
+        /usr/sbin/visudo -cf "$tmp" > /dev/null || { echo "fgc-setcap: rule rejected by visudo" >&2; exit 1; }
+        sudo install -m 0440 -o root -g root "$tmp" "$SUDOERS"
+        echo "wrote $SUDOERS: $rule"
+        ;;
+    --if-thermal)
+        thermal_configured || exit 0
+        if set_cap; then
+            echo "fgc-setcap: $BIN may open raw sockets (thermal camera)"
+        else
+            echo "!! fgc-setcap: could not give $BIN $CAPS - the thermal camera stays offline." >&2
+            echo "!!   Once on the tower: scripts/fgc-setcap --install-sudoers   (or run scripts/fgc-setcap)" >&2
+        fi
+        exit 0
+        ;;
+    "")
+        set_cap && echo "fgc-setcap: $BIN may open raw sockets"
+        ;;
+    *)
+        sed -n '2,20p' "$0" >&2
+        exit 2
+        ;;
+esac

scripts/install-tower

@@ -1064,6 +1064,15 @@ if [[ ${DO[config.ini]} != skip ]]; then
     done_step config.ini
 fi
 
+# A thermal camera's SDK opens a raw socket: give the freshly built binary
+# cap_net_raw, and let later deploys do the same without a password. Does
+# nothing on a tower without one.
+"$REPO/scripts/fgc-setcap" --if-thermal
+if "$REPO/scripts/fgc-setcap" --check 2>/dev/null && [[ ! -f /etc/sudoers.d/fire-gimbal-control-setcap ]]; then
+    "$REPO/scripts/fgc-setcap" --install-sudoers ||
+        say "could not write the sudoers rule; deploy.sh will ask you to run scripts/fgc-setcap"
+fi
+
 if [[ ${DO[platformio]} == change ]]; then
     hr platformio
     curl -fsSL https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py -o "$WORK/get-platformio.py"

src/camera/CompositeCameraSource.cpp

@@ -0,0 +1,165 @@
+#include "fgc/CompositeCameraSource.h"
+
+#include "fgc/Logger.h"
+
+#include <stdexcept>
+
+namespace fgc {
+
+CompositeCameraSource::CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>> children,
+                                             std::vector<int> counts)
+    : children_(std::move(children)), counts_(std::move(counts)) {
+    if (children_.empty()) throw std::invalid_argument("CompositeCameraSource needs a camera");
+    if (counts_.empty())
+        for (const auto& c : children_) counts_.push_back(c->cameraCount());
+    if (counts_.size() != children_.size())
+        throw std::invalid_argument("CompositeCameraSource: one camera count per source");
+    int next = 0;
+    for (int n : counts_) {
+        offsets_.push_back(next);
+        next += n;
+    }
+}
+
+ICameraSource* CompositeCameraSource::route(int camera_index, int& local) const {
+    for (size_t k = children_.size(); k-- > 0;) {
+        if (camera_index < offsets_[k]) continue;
+        local = camera_index - offsets_[k];
+        return local < counts_[k] ? children_[k].get() : nullptr;
+    }
+    return nullptr;
+}
+
+void CompositeCameraSource::open() {
+    // The leader failing stops the run, as a lone camera would. A follower
+    // failing does not: the scan goes on without its pictures.
+    children_[0]->open();
+    for (size_t k = 1; k < children_.size(); ++k) {
+        try {
+            children_[k]->open();
+        } catch (const std::exception& e) {
+            LOG_ERROR << "camera " << offsets_[k] << " did not open (" << e.what()
+                      << "); continuing without it";
+        }
+    }
+}
+
+void CompositeCameraSource::close() {
+    for (auto& c : children_) c->close();
+}
+
+void CompositeCameraSource::start() {
+    for (auto& c : children_) c->start();
+}
+
+void CompositeCameraSource::stop() {
+    for (auto& c : children_) c->stop();
+}
+
+bool CompositeCameraSource::trigger() {
+    in_trigger_ = true;
+    shot_ts_    = 0;
+    const bool taken = children_[0]->trigger();
+    if (taken)
+        for (size_t k = 1; k < children_.size(); ++k) children_[k]->trigger();
+    in_trigger_ = false;
+    return taken;
+}
+
+void CompositeCameraSource::setFrameCallback(FrameCallback cb) {
+    callback_ = std::move(cb);
+    // The leader's frames pass through untouched (they can be 24 MB); its
+    // camera 0 is global camera 0, so not even the index changes.
+    children_[0]->setFrameCallback([this](const Frame& f) {
+        if (in_trigger_ && shot_ts_ == 0) shot_ts_ = f.timestamp_ms;
+        if (callback_) callback_(f);
+    });
+    for (size_t k = 1; k < children_.size(); ++k) {
+        const int offset = offsets_[k];
+        children_[k]->setFrameCallback([this, offset](const Frame& f) {
+            if (!callback_) return;
+            Frame g  = f;
+            g.cam_id = f.cam_id + offset;
+            if (in_trigger_ && shot_ts_ != 0) g.timestamp_ms = shot_ts_;
+            callback_(g);
+        });
+    }
+}
+
+bool CompositeCameraSource::setProfile(int camera_index, const CameraProfile& profile) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->setProfile(local, profile);
+}
+
+uint64_t CompositeCameraSource::frameSeq() { return children_[0]->frameSeq(); }
+
+std::vector<FrameStats> CompositeCameraSource::framesSince(uint64_t after) {
+    return children_[0]->framesSince(after);
+}
+
+bool CompositeCameraSource::readFeature(int camera_index, const std::string& name,
+                                        double& value) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->readFeature(local, name, value);
+}
+
+// What the children have opened, so a camera missing from the bus shows as a
+// shortfall (HardwarePresence) - while the indices stay those configured.
+int CompositeCameraSource::cameraCount() const {
+    int n = 0;
+    for (const auto& c : children_) n += c->cameraCount();
+    return n;
+}
+
+std::vector<CameraDeviceInfo> CompositeCameraSource::deviceInfo() {
+    std::vector<CameraDeviceInfo> out;
+    for (auto& c : children_) {
+        auto d = c->deviceInfo();
+        out.insert(out.end(), d.begin(), d.end());
+    }
+    return out;
+}
+
+std::string CompositeCameraSource::offline(int camera_index) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c ? c->offline(local) : "no such camera";
+}
+
+bool CompositeCameraSource::grabFrame(int camera_index, Frame& out, int timeout_ms) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    if (!c || !c->grabFrame(local, out, timeout_ms)) return false;
+    out.cam_id = camera_index;
+    return true;
+}
+
+bool CompositeCameraSource::setFeature(int camera_index, const std::string& name,
+                                       const std::string& value) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->setFeature(local, name, value);
+}
+
+bool CompositeCameraSource::featureRange(int camera_index, const std::string& name, double& min,
+                                         double& max) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->featureRange(local, name, min, max);
+}
+
+bool CompositeCameraSource::restoreProfile(int camera_index) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->restoreProfile(local);
+}
+
+bool CompositeCameraSource::resetCamera(int camera_index) {
+    int  local = 0;
+    auto* c    = route(camera_index, local);
+    return c && c->resetCamera(local);
+}
+
+}  // namespace fgc

src/camera/ImagePipeline.cpp

@@ -174,7 +174,8 @@ void ImagePipeline::process(const QueuedFrame& queued) {
     }
     const fs::path file = dir / (std::to_string(frame.timestamp_ms) + ".jxl");
     const auto t0 = std::chrono::steady_clock::now();
-    if (!save(frame, out, file.string())) return;
+    ThermalStats stats;
+    if (!save(frame, out, file.string(), &stats)) return;
     noteSaveTime(std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - t0)
                      .count());
 
@@ -187,10 +188,25 @@ void ImagePipeline::process(const QueuedFrame& queued) {
     ev.heading_decideg = static_cast<int>(o.yaw_deg * 10);
     ev.pitch_decideg   = static_cast<int>(o.pitch_deg * 10);
     ev.timestamp_ms    = frame.timestamp_ms;
+    if (frame.thermal) {
+        ThermalEventFields t;
+        t.cal        = frame.thermal->cal;
+        t.missed     = frame.thermal->missed_packets;
+        t.stats_ok   = stats.valid;
+        t.tmax_decic = stats.tmax_decic;
+        t.tmed_decic = stats.tmed_decic;
+        t.hotx       = stats.hotx;
+        t.hoty       = stats.hoty;
+        ev.thermal   = t;
+        if (!stats.valid)
+            LOG_WARN << "Thermal frame " << frame.timestamp_ms
+                     << " has no pixel in the valid range; saved, but without temperatures";
+    }
     channel_.publishCamEvent(ev);
     {
         std::lock_guard<std::mutex> lock(last_event_mutex_);
         last_event_ = ev;
+        if (ev.thermal) last_thermal_event_ = ev;
     }
 
     saved_.fetch_add(1);
@@ -198,15 +214,24 @@ void ImagePipeline::process(const QueuedFrame& queued) {
               << (known ? layoutName(frame.layout) : "legacy") << ')';
 }
 
-bool ImagePipeline::save(const Frame& frame, const CameraOutput& out, const std::string& file) {
+bool ImagePipeline::save(const Frame& frame, const CameraOutput& out, const std::string& file,
+                         ThermalStats* stats) {
     int  code   = 0;
     bool rotate = rotateCode(out.rotation_deg, code);
     const int h = static_cast<int>(frame.height), w = static_cast<int>(frame.width);
     auto* data  = const_cast<uint8_t*>(frame.data.data());
 
-    cv::Mat img;   // what gets encoded: 8-bit (CV_8U) or 12-bit values in CV_16U
+    cv::Mat img;   // what gets encoded: 8-bit (CV_8U), or 12- or 16-bit values in CV_16U
     int     bits = 8;
-    if (frame.layout == PixelLayout::BayerRG8 || frame.layout == PixelLayout::BayerRG12p) {
+    float   distance = static_cast<float>(out.jxl_distance);
+    if (frame.layout == PixelLayout::Mono16) {
+        // Thermal counts: every bit is measurement, so always lossless whatever
+        // the camera's jxl_distance says (the config loader refuses anything
+        // else for a thermal camera; this is the backstop).
+        img      = cv::Mat(h, w, CV_16UC1, data);
+        bits     = 16;
+        distance = 0.f;
+    } else if (frame.layout == PixelLayout::BayerRG8 || frame.layout == PixelLayout::BayerRG12p) {
         cv::Mat mosaic;
         if (frame.layout == PixelLayout::BayerRG8) {
             mosaic = cv::Mat(h, w, CV_8UC1, data);
@@ -231,9 +256,14 @@ bool ImagePipeline::save(const Frame& frame, const CameraOutput& out, const std:
     }
     if (!img.isContinuous()) img = img.clone();
 
+    // On the image as stored, so the hot spot's position matches the file.
+    if (stats && frame.thermal && frame.layout == PixelLayout::Mono16)
+        *stats = thermalStats(reinterpret_cast<const uint16_t*>(img.data),
+                              static_cast<uint32_t>(img.cols), static_cast<uint32_t>(img.rows),
+                              *frame.thermal);
+
     if (!JpegXlEncoder::encodeToFile(file, img.data, img.cols, img.rows, img.channels(), bits,
-                                     static_cast<float>(out.jxl_distance), out.jxl_effort,
+                                     distance, out.jxl_effort, params_.jxl_threads)) {
-                                     params_.jxl_threads)) {
         LOG_ERROR << "Failed to encode " << file;
         return false;
     }
@@ -245,4 +275,9 @@ std::optional<CamEvent> ImagePipeline::lastEvent() const {
     return last_event_;
 }
 
+std::optional<CamEvent> ImagePipeline::lastThermalEvent() const {
+    std::lock_guard<std::mutex> lock(last_event_mutex_);
+    return last_thermal_event_;
+}
+
 }  // namespace fgc

src/camera/IrbgrabApi.cpp

@@ -0,0 +1,61 @@
+#include "fgc/IrbgrabApi.h"
+
+#include <cstdio>
+#include <type_traits>
+
+#include <dlfcn.h>
+
+namespace fgc::irbgrab {
+
+std::shared_ptr<const Api> load(const std::string& library, std::string& error) {
+    // Never dlclose()d: the SDK starts threads and loads plugins of its own.
+    void* lib = dlopen(library.c_str(), RTLD_NOW | RTLD_GLOBAL);
+    if (!lib) {
+        const char* e = dlerror();
+        error = "cannot load " + library + ": " + (e ? e : "unknown error");
+        return nullptr;
+    }
+    auto api = std::make_shared<Api>();
+    bool missing = false;
+    auto sym = [&](auto& fn, const char* name) {
+        fn = reinterpret_cast<std::remove_reference_t<decltype(fn)>>(dlsym(lib, name));
+        if (!fn && !missing) {
+            missing = true;
+            error   = library + " has no " + name + " (not the IRBGRAB v4 SDK?)";
+        }
+    };
+    sym(api->dll_init, "irbgrab_dll_init");
+    sym(api->dll_uninit, "irbgrab_dll_uninit");
+    sym(api->dll_version, "irbgrab_dll_version");
+    sym(api->dll_devicetypenames, "irbgrab_dll_devicetypenames");
+    sym(api->dev_create, "irbgrab_dev_create");
+    sym(api->dev_free, "irbgrab_dev_free");
+    sym(api->dev_search, "irbgrab_dev_search");
+    sym(api->dev_connect, "irbgrab_dev_connect");
+    sym(api->dev_disconnect, "irbgrab_dev_disconnect");
+    sym(api->dev_startgrab, "irbgrab_dev_startgrab");
+    sym(api->dev_stopgrab, "irbgrab_dev_stopgrab");
+    sym(api->dev_getparam, "irbgrab_dev_getparam");
+    sym(api->dev_setparam, "irbgrab_dev_setparam");
+    sym(api->dev_getdata, "irbgrab_dev_getdata");
+    sym(api->mem_free, "irbgrab_mem_free");
+    sym(api->mem_getdimension, "irbgrab_mem_getdimension");
+    sym(api->mem_getdataptr, "irbgrab_mem_getdataptr");
+    sym(api->mem_getinfo, "irbgrab_mem_getinfo");
+    sym(api->mem_getdvlut, "irbgrab_mem_getdvlut");
+    if (missing) return nullptr;
+    return api;
+}
+
+std::string describe(Ret r) {
+    char b[16];
+    std::snprintf(b, sizeof(b), "0x%08X", static_cast<unsigned>(r));
+    std::string s = b;
+    if (r == kSuccess)              s += " (ok)";
+    else if (r == kErrNotSupported) s += " (not supported)";
+    else if (r == kErrNotFound)     s += " (not found)";
+    else if (r == kErrNucOrLicence) s += " (NUC in progress or invalid licence)";
+    return s;
+}
+
+}  // namespace fgc::irbgrab

src/camera/TarisCameraSource.cpp

@@ -0,0 +1,815 @@
+#include "fgc/TarisCameraSource.h"
+
+#include "fgc/Logger.h"
+#include "fgc/RawImage.h"
+
+#include <algorithm>
+#include <atomic>
+#include <cctype>
+#include <chrono>
+#include <cmath>
+#include <condition_variable>
+#include <cstring>
+#include <deque>
+#include <clocale>
+#include <fstream>
+#include <mutex>
+#include <sstream>
+#include <thread>
+#include <vector>
+
+namespace fgc {
+
+using namespace irbgrab;
+
+namespace {
+
+long long unixMs() {
+    using namespace std::chrono;
+    return duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
+}
+
+long long steadyMs() {
+    using namespace std::chrono;
+    return duration_cast<milliseconds>(steady_clock::now().time_since_epoch()).count();
+}
+
+std::string lower(std::string s) {
+    for (auto& c : s) c = static_cast<char>(std::tolower(static_cast<unsigned char>(c)));
+    return s;
+}
+
+// One line of a sysfs file, or "" if it cannot be read.
+std::string sysfs(const std::string& path) {
+    std::ifstream f(path);
+    std::string   s;
+    std::getline(f, s);
+    return s;
+}
+
+// The SDK changes the process's C locale (seen on tower 111: LC_NUMERIC turned
+// to a comma one under LANG=en_US.UTF-8). The program parses and prints numbers
+// with the C library, so every SDK call that may do this runs inside one of
+// these, which puts the locale back as it was.
+class LocaleGuard {
+public:
+    LocaleGuard() {
+        const char* now = std::setlocale(LC_ALL, nullptr);
+        saved_ = now ? now : "C";
+    }
+    ~LocaleGuard() {
+        const char* now = std::setlocale(LC_ALL, nullptr);
+        if (!now || saved_ != now) std::setlocale(LC_ALL, saved_.c_str());
+    }
+    LocaleGuard(const LocaleGuard&)            = delete;
+    LocaleGuard& operator=(const LocaleGuard&) = delete;
+
+private:
+    std::string saved_;
+};
+
+constexpr long long kLogEveryMs       = 60000;   // repeated trouble: one line a minute
+constexpr long long kTelemetryEveryMs = 5000;
+
+}  // namespace
+
+TarisCameraSource::Options TarisCameraSource::fromSpec(const CameraSpec& spec) {
+    Options o;
+    o.serial           = spec.id;
+    o.calib_profile    = spec.calib_profile;
+    o.frame_rate_hz    = spec.frame_rate_hz;
+    o.max_frame_age_ms = spec.max_frame_age_ms;
+    o.library          = spec.library;
+    o.interface        = spec.interface;
+    return o;
+}
+
+double TarisCameraSource::expectedKelvinPerCount(int calib_profile) {
+    switch (calib_profile) {
+        case 0:  return 0.01;   // FF (-40-120C)
+        case 1:  return 0.02;   // FF (0-600C)
+        default: return 0.0;
+    }
+}
+
+bool TarisCameraSource::processHasNetRaw() {
+    std::ifstream f("/proc/self/status");
+    std::string   line;
+    while (std::getline(f, line)) {
+        if (line.rfind("CapEff:", 0) != 0) continue;
+        try {
+            const unsigned long long caps = std::stoull(line.substr(7), nullptr, 16);
+            return (caps >> 13) & 1;   // CAP_NET_RAW
+        } catch (const std::exception&) {
+            return false;
+        }
+    }
+    return false;
+}
+
+struct TarisCameraSource::Impl {
+    Options                    o;
+    std::shared_ptr<const Api> api;
+    std::function<bool()>      has_net_raw;
+
+    // ---- the worker's own (only it calls the SDK) ---------------------------
+    Handle      dev        = 0;
+    bool        sdk_init   = false;
+    bool        connected  = false;
+    int         cal        = -1;       // active profile as the camera reports it
+    double      kpc        = 0.0;      // measured from the LUT; 0 = not yet
+    long long   last_frame_steady = 0;
+    double      last_sdk_ts       = -1.0;  // MemInfo time of the last frame taken
+    int         scale_tries       = 0;     // frames whose LUT was still empty
+    long long   last_telemetry    = 0;
+    long long   nuc_or_licence    = 0; // getdata 0x80000017 since the last log line
+    long long   nuc_logged_ms     = 0;
+    bool        zeros_logged      = false;
+    std::string last_offline_logged;
+
+    // ---- shared, under m -------------------------------------------------
+    std::mutex              m;
+    std::condition_variable cv;
+    Frame                   latest;
+    uint64_t                latest_seq    = 0;
+    uint64_t                delivered_seq = 0;
+    std::string             why_offline   = "not opened";
+    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;
+
+    std::atomic<bool> running{false};
+    std::atomic<bool> gate{false};
+    FrameCallback     callback;
+    std::thread       worker;
+
+    explicit Impl(Options opts, std::shared_ptr<const Api> a, std::function<bool()> net_raw)
+        : o(std::move(opts)), api(std::move(a)), has_net_raw(std::move(net_raw)) {
+        if (!has_net_raw) has_net_raw = &TarisCameraSource::processHasNetRaw;
+        info.id     = o.serial;
+        info.serial = o.serial;
+        info.model  = "TarisIR";
+    }
+
+    void setOffline(const std::string& why) {
+        {
+            std::lock_guard<std::mutex> l(m);
+            why_offline    = why;
+            info.streaming = false;
+        }
+        if (why != last_offline_logged) {
+            LOG_WARN << "thermal camera " << o.serial << " offline: " << why;
+            last_offline_logged = why;
+        }
+    }
+
+    // Sleep up to ms, or less if close() wants the worker to stop or another
+    // thread has asked for a profile switch or a reset.
+    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; });
+    }
+
+    // ---- parameter helpers -------------------------------------------------
+    bool getInt32(uint32_t what, int32_t& v) {
+        return ok(api->dev_getparam(dev, what, &v, kTypeInt32));
+    }
+    bool getIdxInt32(uint32_t what, int32_t index, int32_t& v) {
+        IdxInt32 p{index, 0};
+        if (!ok(api->dev_getparam(dev, what, &p, kTypeIdxInt32))) return false;
+        v = p.value;
+        return true;
+    }
+    bool getSingle(uint32_t what, float& v) {
+        return ok(api->dev_getparam(dev, what, &v, kTypeSingle));
+    }
+    bool getString(uint32_t what, std::string& out) {
+        std::vector<char> buf(kCharBuffer, 0);
+        String s{buf.data(), kCharBuffer};
+        if (!ok(api->dev_getparam(dev, what, &s, kTypeString))) return false;
+        out.assign(buf.data(), strnlen(buf.data(), buf.size()));
+        return true;
+    }
+    bool getIdxString(uint32_t what, int32_t index, std::string& out) {
+        std::vector<char> buf(kCharBuffer, 0);
+        IdxString s{index, {buf.data(), kCharBuffer}};
+        if (!ok(api->dev_getparam(dev, what, &s, kTypeIdxString))) return false;
+        out.assign(buf.data(), strnlen(buf.data(), buf.size()));
+        return true;
+    }
+    Ret setInt32(uint32_t what, int32_t v) { return api->dev_setparam(dev, what, &v, kTypeInt32); }
+
+    // Calib_Active reads as a plain or an indexed value (both work on 4.3.44).
+    // Right after a reconnect it can fail for a moment, so it is asked a few times.
+    int readCal() {
+        for (int attempt = 0; attempt < 10; ++attempt) {
+            int32_t v = -1;
+            if (getInt32(param::kCalibActive, v) && v >= 0) return v;
+            if (getIdxInt32(param::kCalibActive, 0, v) && v >= 0) return v;
+            std::this_thread::sleep_for(std::chrono::milliseconds(300));
+        }
+        return -1;
+    }
+
+    // Switch the calibration profile and wait for the camera to finish.
+    // Calib_Active reports the new profile at once, but the frames keep the old
+    // scale until Calib_ChangeInProgress has run 2, 4, 2 and reached 0 (about
+    // 3 s on tower 111; at rest, before any switch, it reads 6). Nothing is
+    // polled meanwhile, so no frame of the wrong scale is taken.
+    bool switchCal(int profile, std::string& why) {
+        int32_t count = 0;
+        if (getInt32(param::kCalibCount, count) && (profile < 0 || profile >= count)) {
+            why = "calibration profile " + std::to_string(profile) + " does not exist (camera has " +
+                  std::to_string(count) + ")";
+            return false;
+        }
+        IdxInt32 v{0, profile};
+        const Ret r = api->dev_setparam(dev, param::kCalibActive, &v, kTypeIdxInt32);
+        if (!ok(r)) {
+            why = "cannot set calibration profile " + std::to_string(profile) + ": " + describe(r);
+            return false;
+        }
+        const long long until = steadyMs() + o.calib_timeout_ms;
+        int32_t busy = 1;
+        while (steadyMs() < until) {
+            if (getInt32(param::kCalibChangeInProgress, busy) && busy == 0) break;
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+        if (busy != 0) {
+            why = "calibration profile change did not finish within " +
+                  std::to_string(o.calib_timeout_ms) + " ms";
+            return false;
+        }
+        cal         = readCal();
+        kpc         = 0.0;   // measure the new scale from the next frames' LUT
+        scale_tries = 0;
+        if (cal != profile) {
+            why = "camera reports profile " + std::to_string(cal) + " after switching to " +
+                  std::to_string(profile);
+            return false;
+        }
+        std::string name;
+        getIdxString(param::kCalibName, cal, name);
+        LOG_INFO << "thermal camera " << o.serial << ": calibration profile " << cal
+                 << (name.empty() ? "" : " (" + name + ")");
+        return true;
+    }
+
+    // ---- connecting --------------------------------------------------------
+    std::string linkHint() const {
+        if (o.interface.empty()) return {};
+        const std::string base  = "/sys/class/net/" + o.interface;
+        const std::string state = sysfs(base + "/operstate");
+        if (state.empty()) return "; interface " + o.interface + " does not exist";
+        std::string hint = "; " + o.interface + " is " + state;
+        const std::string mtu = sysfs(base + "/mtu");
+        if (!mtu.empty() && mtu != "1500") hint += ", MTU " + mtu + " (the camera needs 1500)";
+        return hint;
+    }
+
+    void freeDevice() {
+        if (dev) api->dev_free(&dev);
+        dev = 0;
+    }
+
+    void disconnect() {
+        if (connected) {
+            api->dev_stopgrab(dev, 0);
+            api->dev_disconnect(dev);
+        }
+        connected = false;
+        freeDevice();
+    }
+
+    bool connect(std::string& why) {
+        // The device type the camera package registered.
+        std::vector<char> names(kCharBuffer, 0);
+        Ret r = api->dll_devicetypenames(names.data(), kCharBuffer);
+        if (!ok(r)) {
+            why = "SDK lists no device types: " + describe(r);
+            return false;
+        }
+        int type = -1, i = 0;
+        std::stringstream ss(std::string(names.data(), strnlen(names.data(), names.size())));
+        for (std::string n; std::getline(ss, n, ';'); ++i)
+            if (lower(n).find("taris") != std::string::npos) { type = i; break; }
+        if (type < 0) {
+            why = "SDK has no TarisIR device type (camera package infratec-itcamtarisirmini "
+                  "missing?)";
+            return false;
+        }
+
+        std::vector<char> ini(kCharBuffer, 0);
+        r = api->dev_create(&dev, type, ini.data());
+        if (!ok(r)) {
+            dev = 0;
+            why = "cannot create the device: " + describe(r);
+            return false;
+        }
+
+        // Search first: it fills the SDK's adapter table that connect() needs.
+        int32_t count = 0;
+        r = api->dev_search(dev, &count);
+        if (!ok(r) || count <= 0) {
+            freeDevice();
+            why = "no thermal camera found on the network" + linkHint();
+            return false;
+        }
+        std::string              chosen;
+        std::vector<std::string> seen;
+        for (int32_t k = 0; k < count && k < 32; ++k) {
+            std::string s;
+            if (!getIdxString(param::kSearchString, k, s)) break;
+            seen.push_back(s);
+            if (chosen.empty() && s.find(o.serial) != std::string::npos) chosen = s;
+        }
+        if (chosen.empty()) {
+            std::string list;
+            for (const auto& s : seen) list += (list.empty() ? "" : ", ") + s;
+            freeDevice();
+            why = "camera " + o.serial + " not found (found: " + (list.empty() ? "none" : list) + ")";
+            return false;
+        }
+
+        // SN:<serial>|<MAC>|<IP>#<adapter>. The adapter index moves when Docker or
+        // VPN interfaces come and go, so if the one found does not connect, try
+        // them all.
+        std::vector<std::string> candidates{chosen};
+        const std::string base = chosen.substr(0, chosen.rfind('#'));
+        for (int a = 0; a < 16; ++a) {
+            std::string c = base + "#" + std::to_string(a);
+            if (c != chosen) candidates.push_back(c);
+        }
+        Ret last = 0;
+        for (const auto& c : candidates) {
+            std::vector<char> buf(kCharBuffer, 0);
+            std::memcpy(buf.data(), c.data(), std::min<size_t>(c.size(), kCharBuffer - 1));
+            last = api->dev_connect(dev, buf.data());
+            if (ok(last)) {
+                connected = true;
+                LOG_INFO << "thermal camera connected via " << c;
+                break;
+            }
+        }
+        if (!connected) {
+            freeDevice();
+            why = "cannot connect to " + chosen + ": " + describe(last) + linkHint();
+            return false;
+        }
+
+        // Profile: it sets the counts' scale, so it is checked before any frame.
+        cal = readCal();
+        if (cal < 0) {
+            disconnect();
+            why = "cannot read the active calibration profile";
+            return false;
+        }
+        if (cal != o.calib_profile) {
+            LOG_INFO << "thermal camera on calibration profile " << cal << ", switching to "
+                     << o.calib_profile;
+            std::string err;
+            if (!switchCal(o.calib_profile, err)) {
+                disconnect();
+                why = err;
+                return false;
+            }
+        }
+
+        float rate = static_cast<float>(o.frame_rate_hz);
+        r = api->dev_setparam(dev, param::kFramerateHz, &rate, kTypeSingle);
+        if (!ok(r))
+            LOG_WARN << "thermal camera: cannot set " << o.frame_rate_hz
+                     << " Hz: " << describe(r) << "; it runs at its own rate";
+
+        // Polling, before and again after starting: the SDK resets it on startgrab.
+        setInt32(param::kPollingEnable, 1);
+        r = api->dev_startgrab(dev, 0);
+        if (!ok(r)) {
+            disconnect();
+            why = "cannot start grabbing: " + describe(r);
+            return false;
+        }
+        setInt32(param::kPollingEnable, 1);
+
+        std::string model;
+        getString(param::kCameraName, model);
+        {
+            std::lock_guard<std::mutex> l(m);
+            if (!model.empty()) info.model = model;
+            ++connects;
+        }
+        kpc               = 0.0;
+        scale_tries       = 0;
+        last_sdk_ts       = -1.0;
+        zeros_logged      = false;
+        last_frame_steady = steadyMs();   // grace for the first frame
+        return true;
+    }
+
+    // ---- frames ------------------------------------------------------------
+    // Take the newest frame from the SDK, if there is one.
+    void poll() {
+        // 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)) {
+            if (r == kErrNucOrLicence) {
+                ++nuc_or_licence;
+                const long long now = steadyMs();
+                if (now - nuc_logged_ms >= kLogEveryMs) {
+                    LOG_WARN << "thermal camera: " << describe(r) << " x" << nuc_or_licence
+                             << " in the last minute; if this persists, check the licence in "
+                                "/var/lib/infratec/.license before the NUC";
+                    nuc_logged_ms  = now;
+                    nuc_or_licence = 0;
+                }
+            }
+            return;
+        }
+        struct MemGuard {
+            const Api* api;
+            Handle*    h;
+            ~MemGuard() { if (*h) api->mem_free(h); }
+        } guard{api.get(), &mem};
+
+        uint32_t w = 0, h = 0, type = 0;
+        Handle   ptr   = 0;
+        int32_t  bytes = 0;
+        if (!ok(api->mem_getdimension(mem, &w, &h, &type)) ||
+            !ok(api->mem_getdataptr(mem, &ptr, &bytes)) || !ptr || w == 0 || h == 0)
+            return;
+        const size_t need = static_cast<size_t>(w) * h * 2;
+        if (bytes < 0 || static_cast<size_t>(bytes) < need) return;
+
+        // Polling hands out the newest frame again until a newer one arrives. The
+        // camera's frame counter stays 0 (TarisIR mini, SDK 4.3.44), so a new
+        // frame is told by its time.
+        MemInfo mi{};
+        mi.struct_size = sizeof(MemInfo);
+        if (!ok(api->mem_getinfo(mem, &mi))) {
+            mi.image_num    = -1;
+            mi.timestamp_ms = -1.0;
+        }
+        if (mi.timestamp_ms >= 0.0 && mi.timestamp_ms == last_sdk_ts) return;   // seen it
+        last_sdk_ts = mi.timestamp_ms;
+
+        const auto* counts = reinterpret_cast<const uint16_t*>(ptr);
+        // The first frames after starting are all zero.
+        if (std::all_of(counts, counts + static_cast<size_t>(w) * h,
+                        [](uint16_t c) { return c == 0; })) {
+            if (!zeros_logged) LOG_INFO << "thermal camera: discarding zero frames after start";
+            zeros_logged = true;
+            return;
+        }
+
+        if (kpc == 0.0) measureScale(mem);
+
+        Frame f;
+        f.width        = w;
+        f.height       = h;
+        f.channels     = 1;
+        f.layout       = PixelLayout::Mono16;
+        f.timestamp_ms = unixMs();
+        f.cam_id       = 0;
+        f.data.assign(reinterpret_cast<const uint8_t*>(ptr),
+                      reinterpret_cast<const uint8_t*>(ptr) + need);
+        f.brightness = sampleBrightness(f.data.data(), f.data.size(), f.layout, w, h);
+        ThermalFrameInfo t;
+        t.cal              = cal;
+        t.kelvin_per_count = kpc > 0.0 ? kpc : expectedKelvinPerCount(cal);
+        t.missed_packets   = mi.missed_packets;
+        t.image_num        = mi.image_num;
+        f.thermal          = t;
+
+        const long long now = steadyMs();
+        last_frame_steady   = now;
+        {
+            std::lock_guard<std::mutex> l(m);
+            latest = std::move(f);
+            ++latest_seq;
+            ++info.frames_delivered;
+            packets_lost += std::max(0, mi.missed_packets);
+            info.frames_dropped = missed_shots + packets_lost;
+            info.width          = w;
+            info.height         = h;
+            info.payload_bytes  = static_cast<long long>(need);
+            info.streaming      = true;
+            why_offline.clear();
+            arrivals.push_back(now);
+            while (!arrivals.empty() && now - arrivals.front() > 10000) arrivals.pop_front();
+            if (arrivals.size() > 1)
+                info.actual_fps = (arrivals.size() - 1) * 1000.0 /
+                                  std::max<long long>(1, arrivals.back() - arrivals.front());
+        }
+        cv.notify_all();
+        last_offline_logged.clear();
+    }
+
+    // The counts' scale, from the LUT at emissivity and transmission 1, where it
+    // is a straight line through zero. The first frames after connecting come
+    // with an empty table, so it is asked again on later ones; frames meanwhile
+    // use the documented scale, and if the table stays empty, so does the run.
+    static constexpr int kScaleTries = 50;
+    void measureScale(Handle mem) {
+        std::vector<float> lut(65536, 0.f);
+        const Ret r = api->mem_getdvlut(mem, lut.data(), 1.f, 1.f, 293.15f, 293.15f);
+        const double expected = expectedKelvinPerCount(cal);
+        double       measured = 0.0;
+        if (ok(r)) measured = (static_cast<double>(lut[40000]) - lut[30000]) / 10000.0;
+        if (!(measured > 0.0) && ++scale_tries < kScaleTries) return;   // try the next frame
+        LOG_DEBUG << "thermal camera LUT after " << scale_tries << " empty: " << describe(r)
+                  << ", [0] " << lut[0] << " [29315] " << lut[29315] << " [65280] "
+                  << lut[65280] << " [65535] " << lut[65535] << " K";
+        if (!(measured > 0.0)) {
+            kpc = expected > 0.0 ? expected : -1.0;   // -1: unknown, and not asked again
+            LOG_WARN << "thermal camera: no usable LUT (" << describe(r) << "); taking the "
+                     << "documented " << expected << " K per count for profile " << cal;
+        } else {
+            kpc = measured;
+            if (expected > 0.0 && std::abs(kpc - expected) > expected * 0.01)
+                LOG_WARN << "thermal camera: profile " << cal << " has " << kpc
+                         << " K per count, not the documented " << expected;
+            else
+                LOG_INFO << "thermal camera: profile " << cal << ", " << kpc << " K per count";
+        }
+    }
+
+    void telemetry() {
+        float k = 0.f;
+        if (getSingle(param::kCameraTempHousing, k) && k > 0.f) {
+            std::lock_guard<std::mutex> l(m);
+            info.temperature_c = k - 273.15;
+        }
+    }
+
+    // ---- the worker ------------------------------------------------------
+    void run() {
+        if (!api) {
+            std::string err;
+            LocaleGuard keep;
+            api = irbgrab::load(o.library, err);
+            if (!api) {
+                setOffline(err + " (InfraTec SDK not installed?)");
+                return;
+            }
+        }
+        if (!has_net_raw()) {
+            setOffline("this binary may not open raw sockets (no cap_net_raw): run deploy.sh, "
+                       "which sets it, or sudo setcap cap_net_raw+ep build/fire_gimbal_control");
+            return;
+        }
+        Ret r;
+        {
+            LocaleGuard keep;
+            r = api->dll_init();
+        }
+        if (!ok(r)) {
+            setOffline("SDK init failed: " + describe(r));
+            return;
+        }
+        sdk_init = true;
+        std::vector<char> ver(kCharBuffer, 0);
+        if (ok(api->dll_version(ver.data(), kCharBuffer)))
+            LOG_INFO << "IRBGRAB SDK " << ver.data();
+
+        long long retry = o.retry_min_ms;
+        const long long poll_ms =
+            std::max<long long>(5, static_cast<long long>(500.0 / o.frame_rate_hz));
+        while (running) {
+            LocaleGuard keep_locale;   // every SDK call in this pass, polling included
+            if (!connected) {
+                {
+                    // Connecting is what a reset asks for; it must not keep the
+                    // retry pause from pausing.
+                    std::lock_guard<std::mutex> l(m);
+                    reset_wanted = false;
+                }
+                std::string why;
+                bool        up;
+                {
+                    LocaleGuard keep;
+                    up = connect(why);
+                }
+                if (up) {
+                    retry = o.retry_min_ms;
+                    std::lock_guard<std::mutex> l(m);
+                    why_offline = "waiting for the first frame";
+                } else {
+                    setOffline(why);
+                    pause(retry);
+                    retry = std::min<long long>(retry * 2, o.retry_max_ms);
+                    continue;
+                }
+            }
+            serviceRequests();
+            if (!connected) continue;
+            poll();
+
+            const long long now = steadyMs();
+            if (now - last_frame_steady > o.stall_ms) {
+                setOffline("no frame for " + std::to_string(o.stall_ms) + " ms; reconnecting");
+                disconnect();
+                std::lock_guard<std::mutex> l(m);
+                ++info.restarts;
+                continue;
+            }
+            if (now - last_telemetry >= kTelemetryEveryMs) {
+                telemetry();
+                last_telemetry = now;
+            }
+            pause(poll_ms);
+        }
+        LocaleGuard keep;
+        disconnect();
+        if (sdk_init) api->dll_uninit();
+        sdk_init = false;
+    }
+
+    // A profile switch or a reset asked for from another thread.
+    void serviceRequests() {
+        int  want  = -1;
+        bool reset = false;
+        {
+            std::lock_guard<std::mutex> l(m);
+            want         = cal_wanted;
+            reset        = reset_wanted;
+            reset_wanted = false;
+        }
+        if (reset) {
+            LOG_INFO << "thermal camera: reset requested, reconnecting";
+            disconnect();
+            std::lock_guard<std::mutex> l(m);
+            ++info.restarts;
+            return;
+        }
+        if (want < 0) return;
+        std::string why;
+        bool        done = switchCal(want, why);
+        if (done) o.calib_profile = want;   // a reconnect keeps it
+        else LOG_WARN << "thermal camera: " << why;
+        {
+            std::lock_guard<std::mutex> l(m);
+            cal_wanted = -1;
+            cal_done   = true;
+            cal_ok     = done;
+            // Frames from before the switch are on the old scale: never hand one out.
+            delivered_seq = latest_seq;
+        }
+        cv.notify_all();
+    }
+};
+
+TarisCameraSource::TarisCameraSource(Options opts, std::shared_ptr<const irbgrab::Api> api,
+                                     std::function<bool()> has_net_raw)
+    : impl_(std::make_unique<Impl>(std::move(opts), std::move(api), std::move(has_net_raw))) {}
+
+TarisCameraSource::~TarisCameraSource() { close(); }
+
+void TarisCameraSource::open() {
+    if (impl_->running.exchange(true)) return;
+    {
+        std::lock_guard<std::mutex> l(impl_->m);
+        impl_->why_offline = "connecting";
+    }
+    impl_->worker = std::thread([this] { impl_->run(); });
+    LOG_INFO << "thermal camera " << impl_->o.serial << ": connecting in the background";
+}
+
+void TarisCameraSource::close() {
+    if (!impl_->running.exchange(false)) return;
+    impl_->cv.notify_all();
+    if (impl_->worker.joinable()) impl_->worker.join();
+    std::lock_guard<std::mutex> l(impl_->m);
+    impl_->why_offline    = "closed";
+    impl_->info.streaming = false;
+}
+
+void TarisCameraSource::start() { impl_->gate = true; }
+void TarisCameraSource::stop() { impl_->gate = false; }
+
+void TarisCameraSource::setFrameCallback(FrameCallback cb) { impl_->callback = std::move(cb); }
+
+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;
+        if (!fresh) {
+            ++d.missed_shots;
+            ++d.missed_since_log;
+            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;
+            }
+            return false;
+        }
+        f               = d.latest;
+        d.delivered_seq = d.latest_seq;
+    }
+    d.callback(f);
+    return true;
+}
+
+std::vector<CameraDeviceInfo> TarisCameraSource::deviceInfo() {
+    std::lock_guard<std::mutex> l(impl_->m);
+    return {impl_->info};
+}
+
+std::string TarisCameraSource::offline(int camera_index) {
+    if (camera_index != 0) return "no such camera";
+    std::lock_guard<std::mutex> l(impl_->m);
+    return impl_->why_offline;
+}
+
+bool TarisCameraSource::grabFrame(int camera_index, Frame& out, int timeout_ms) {
+    if (camera_index != 0) return false;
+    Impl&                        d = *impl_;
+    std::unique_lock<std::mutex> l(d.m);
+    const uint64_t               after = d.latest_seq;
+    if (!d.cv.wait_for(l, std::chrono::milliseconds(timeout_ms),
+                       [&] { return d.latest_seq > after || !d.running; }) ||
+        d.latest_seq <= after)
+        return false;
+    out = d.latest;
+    return true;
+}
+
+bool TarisCameraSource::readFeature(int camera_index, const std::string& name, double& value) {
+    if (camera_index != 0) return false;
+    std::lock_guard<std::mutex> l(impl_->m);
+    if (name == "CalibProfile") {
+        if (!impl_->latest.thermal) return false;
+        value = impl_->latest.thermal->cal;
+        return true;
+    }
+    if (name == "KelvinPerCount") {
+        if (!impl_->latest.thermal) return false;
+        value = impl_->latest.thermal->kelvin_per_count;
+        return true;
+    }
+    if (name == "HousingTemperature") {
+        if (impl_->info.temperature_c == 0.0) return false;
+        value = impl_->info.temperature_c;
+        return true;
+    }
+    return false;
+}
+
+bool TarisCameraSource::setFeature(int camera_index, const std::string& name,
+                                   const std::string& value) {
+    if (camera_index != 0 || name != "CalibProfile") return false;
+    int profile = -1;
+    try {
+        size_t used = 0;
+        profile     = std::stoi(value, &used);
+        if (used != value.size()) return false;
+    } catch (const std::exception&) {
+        return false;
+    }
+    Impl&                        d = *impl_;
+    std::unique_lock<std::mutex> l(d.m);
+    if (!d.running || !d.why_offline.empty()) return false;
+    d.cal_wanted = profile;
+    d.cal_done   = false;
+    d.cv.notify_all();
+    if (!d.cv.wait_for(l, std::chrono::milliseconds(d.o.calib_timeout_ms + 5000),
+                       [&] { return d.cal_done || !d.running; }))
+        return false;
+    return d.cal_done && d.cal_ok;
+}
+
+bool TarisCameraSource::resetCamera(int camera_index) {
+    if (camera_index != 0) return false;
+    Impl&                        d = *impl_;
+    std::unique_lock<std::mutex> l(d.m);
+    if (!d.running) return false;
+    const uint64_t before = d.connects;
+    const uint64_t seq    = d.latest_seq;
+    d.reset_wanted = true;
+    d.cv.notify_all();
+    // Back once it has connected again and delivered a frame.
+    return d.cv.wait_for(l, std::chrono::seconds(45), [&] {
+        return (d.connects > before && d.latest_seq > seq) || !d.running;
+    }) && d.running;
+}
+
+}  // namespace fgc

src/core/Application.cpp

@@ -63,6 +63,9 @@
 #include <string>
 #include <thread>
 
+#include "fgc/CompositeCameraSource.h"
+#include "fgc/TarisCameraSource.h"
+
 #if FGC_WITH_MQTT
 #include "fgc/MqttControlChannel.h"
 #endif
@@ -420,6 +423,9 @@ struct Application::Impl {
 #endif
     }
 
+    // One source for the colour cameras (Vimba, or the mock), one per thermal
+    // camera, behind a CompositeCameraSource when there is more than one. The
+    // colour source leads (CameraConfig::cameras puts its cameras first).
     std::unique_ptr<ICameraSource> makeCamera() {
         bool mock = !realCameraWanted();
         if (mock && !cfg.features.enable_camera) {
@@ -431,7 +437,27 @@ struct Application::Impl {
             LOG_WARN << "Camera requested but binary built without Vimba X; using mock camera";
         }
 #endif
-        const auto active = cfg.camera.active();
+        std::vector<const CameraSpec*> colour, thermal;
+        for (const auto* c : cfg.camera.active()) (c->thermal() ? thermal : colour).push_back(c);
+
+        // With the camera count each source is configured with: Vimba reports
+        // none until open(), and the thermal camera's index must not move.
+        std::vector<std::unique_ptr<ICameraSource>> sources;
+        std::vector<int>                            counts;
+        if (!colour.empty() || thermal.empty()) {
+            sources.push_back(makeColourCamera(colour, mock));
+            counts.push_back(colour.empty() ? 1 : static_cast<int>(colour.size()));
+        }
+        for (const auto* c : thermal) {
+            sources.push_back(makeThermalCamera(*c));
+            counts.push_back(1);
+        }
+        if (sources.size() == 1) return std::move(sources.front());
+        return std::make_unique<CompositeCameraSource>(std::move(sources), std::move(counts));
+    }
+
+    std::unique_ptr<ICameraSource> makeColourCamera(const std::vector<const CameraSpec*>& active,
+                                                    bool mock) {
         if (mock) {
             const int n = active.empty() ? 1 : static_cast<int>(active.size());
             if (opts.mock_camera_full.value_or(cfg.features.mock_camera_full)) {
@@ -453,6 +479,19 @@ struct Application::Impl {
 #endif
     }
 
+    // A thermal camera needs no build option: its SDK is loaded at run time, and
+    // a tower without it just has that camera offline. Only a mock or disabled
+    // camera run gets synthetic counts instead.
+    std::unique_ptr<ICameraSource> makeThermalCamera(const CameraSpec& c) {
+        if (!cfg.features.enable_camera || opts.mock_camera.value_or(cfg.features.mock_camera)) {
+            LOG_INFO << "[mock] thermal camera '" << c.name << "': synthetic 640x480 counts";
+            return std::make_unique<MockCameraSource>(1, 640, 480, PixelLayout::Mono16);
+        }
+        LOG_INFO << "thermal camera '" << c.name << "': TarisIR " << c.id << ", profile "
+                 << c.calib_profile << ", " << c.frame_rate_hz << " Hz";
+        return std::make_unique<TarisCameraSource>(TarisCameraSource::fromSpec(c));
+    }
+
     // Load every profile of every camera up front. Two reasons: a profile nobody
     // is using today still fails at startup rather than the first time someone
     // switches to it, and a settings XML edited in the Viewer is detected and
@@ -464,6 +503,14 @@ struct Application::Impl {
 
         for (const auto& c : cfg.camera.cameras) {
             if (!c.enabled) continue;
+            if (c.thermal()) {
+                // No settings file: the thermal camera is set up from its config
+                // keys, and its profile only names a timing block.
+                active_profile[c.name] = c.profile;
+                LOG_INFO << "camera '" << c.name << "': thermal, no settings XML; timing '"
+                         << c.profile << "'";
+                continue;
+            }
             std::map<std::string, fgc::ProfileLoadResult> results;
             auto profiles = fgc::loadCameraProfiles(c.profile_dir, results);
 
@@ -500,6 +547,26 @@ struct Application::Impl {
     // Switch one camera's profile by name. With no camera named, applies to the
     // single configured camera. Returns false (and warns) if unknown.
     bool applyProfile(const std::string& cam_name, const std::string& name) {
+        for (const auto& c : cfg.camera.cameras) {
+            if (c.name != cam_name || !c.thermal()) continue;
+            // A thermal camera's profile is its timing block and nothing else.
+            if (!c.enabled) {
+                LOG_WARN << "camera '" << cam_name << "' is configured but not enabled";
+                return false;
+            }
+            if (name != c.profile && c.timing.find(name) == c.timing.end()) {
+                std::string known = c.profile;
+                for (const auto& [n, t] : c.timing)
+                    if (n != c.profile) known += ", " + n;
+                LOG_WARN << "unknown profile '" << name << "' for camera '" << cam_name
+                         << "' (available: " << known << ')';
+                return false;
+            }
+            active_profile[cam_name] = name;
+            configureSettle();
+            LOG_INFO << "camera '" << cam_name << "' profile -> " << name << " (timing only)";
+            return true;
+        }
         auto ci = camera_profiles.find(cam_name);
         if (ci == camera_profiles.end()) {
             std::string known;
@@ -551,6 +618,15 @@ struct Application::Impl {
             rule    = rule || t.settle_rule == "brightness";
         }
         scheduler->setSettleWait(settle, timeout);
+        // The thermal camera hands over the newest frame it has, up to
+        // max_frame_age_ms old: older than the settle wait, and it may have been
+        // taken while the gimbal still moved.
+        for (const auto* c : cfg.camera.active())
+            if (c->thermal() && c->max_frame_age_ms > settle)
+                LOG_WARN << "camera '" << c->name << "': a frame may be up to "
+                         << c->max_frame_age_ms << " ms old, but the scan waits only " << settle
+                         << " ms after standstill - lower max_frame_age_ms, or the thermal "
+                            "image may be blurred by the last move";
         SettleRule::Params p;
         if (rule && camera) {
             double v = 0;
@@ -1037,8 +1113,10 @@ struct Application::Impl {
         // Live per-camera identity/telemetry/stats.
         s.capture.devices.clear();
         if (camera) {
+            int index = 0;
             for (const auto& d : camera->deviceInfo()) {
                 CameraDeviceView v;
+                v.offline = camera->offline(index++);
                 v.id = d.id; v.model = d.model; v.serial = d.serial; v.streaming = d.streaming;
                 v.width = d.width; v.height = d.height; v.payload_bytes = d.payload_bytes;
                 v.exposure_us = d.exposure_us; v.gain_db = d.gain_db;
@@ -1067,6 +1145,14 @@ struct Application::Impl {
                 s.capture.last_pitch_deg   = ev->pitch_decideg / 10.0;
                 s.capture.last_ts_ms       = ev->timestamp_ms;
             }
+            if (auto ev = pipeline->lastThermalEvent(); ev && ev->thermal) {
+                s.capture.has_thermal      = true;
+                s.capture.thermal_cal      = ev->thermal->cal;
+                s.capture.thermal_stats_ok = ev->thermal->stats_ok;
+                s.capture.thermal_max_c    = ev->thermal->tmax_decic / 10.0;
+                s.capture.thermal_med_c    = ev->thermal->tmed_decic / 10.0;
+                s.capture.thermal_ts_ms    = ev->timestamp_ms;
+            }
         }
 
         // --- Connectivity ---
@@ -1337,6 +1423,14 @@ struct Application::Impl {
             h.save_ms_mean        = t.mean_ms;
             h.save_ms_max         = t.max_ms;
         }
+        if (camera) {
+            // Only a camera the scan can do without is ever offline (the
+            // thermal one); the colour camera failing stops the run instead.
+            const auto active = cfg.camera.active();
+            for (int i = 0; i < camera->cameraCount() && i < static_cast<int>(active.size()); ++i)
+                if (!camera->offline(i).empty())
+                    h.cams_offline += (h.cams_offline.empty() ? "" : ",") + active[i]->label;
+        }
         h.held_s       = thermal_.heldForSaveMs() / 1000;
         h.interval_s   = scheduler ? scheduler->intervalMs() / 1000.0 : 0.0;
         h.timestamp_ms = nowEpochMs();
@@ -2077,12 +2171,77 @@ struct Application::Impl {
     // profile. For a stream that has stopped delivering and will not restart -
     // the state tower 111's camera was in on 2026-09-24, which only this cleared.
     // Manual mode only (allowedIn), so there is no scan to pause around it.
-    void resetCameras() {
+    // With a camera named (block name or label), only that one: the thermal
+    // camera reconnects without rebooting the colour one.
+    void resetCameras(const std::string& which = "") {
+        const auto active = cfg.camera.active();
+        int        only   = -1;
+        auto lowered = [](std::string v) {
+            std::transform(v.begin(), v.end(), v.begin(),
+                           [](unsigned char ch) { return std::tolower(ch); });
+            return v;
+        };
+        if (!which.empty()) {
+            for (size_t i = 0; i < active.size(); ++i)
+                if (lowered(active[i]->name) == lowered(which) ||
+                    lowered(active[i]->label) == lowered(which))
+                    only = static_cast<int>(i);
+            if (only < 0) {
+                LOG_WARN << "camera reset: no active camera '" << which << "'";
+                return;
+            }
+        }
         camera->stop();
-        for (int i = 0; i < camera->cameraCount(); ++i)
+        for (int i = 0; i < camera->cameraCount(); ++i) {
-            LOG_INFO << "camera " << i << (camera->resetCamera(i) ? ": reset, back on its profile"
+            if (only >= 0 && i != only) continue;
+            const std::string name = i < static_cast<int>(active.size())
+                                         ? active[i]->name
+                                         : std::to_string(i);
+            LOG_INFO << "camera " << name
+                     << (camera->resetCamera(i) ? ": reset, back on its profile"
                                                 : ": reset FAILED (see above)");
         }
+    }
+
+    // `camera calib [<profile>]`: the thermal camera's calibration profile,
+    // which sets the scale of its counts. Every frame says which it was taken
+    // on, so switching is safe for the archive; it is manual-mode only because
+    // the camera delivers nothing for the ~3 s it takes.
+    void handleCalib(const Command& c) {
+        int index = -1, i = 0;
+        for (const auto* s : cfg.camera.active()) {
+            if (s->thermal()) { index = i; break; }
+            ++i;
+        }
+        if (index < 0) {
+            LOG_WARN << "camera calib: no thermal camera configured";
+            return;
+        }
+        const std::string why = camera->offline(index);
+        if (!why.empty()) {
+            LOG_WARN << "camera calib: the thermal camera is offline (" << why << ")";
+            return;
+        }
+        if (!c.has_value) {
+            double v = 0, k = 0;
+            if (camera->readFeature(index, "CalibProfile", v) &&
+                camera->readFeature(index, "KelvinPerCount", k))
+                LOG_INFO << "thermal calibration profile " << static_cast<int>(v) << ", " << k
+                         << " K per count";
+            else
+                LOG_INFO << "thermal calibration profile: no frame yet";
+            return;
+        }
+        const int profile = static_cast<int>(c.value);
+        LOG_INFO << "thermal camera: switching to calibration profile " << profile << " ...";
+        if (camera->setFeature(index, "CalibProfile", std::to_string(profile)))
+            LOG_INFO << "thermal camera on calibration profile " << profile
+                     << " (for this run; [Camera." << cfg.camera.active()[index]->name
+                     << "] calib_profile sets it at startup)";
+        else
+            LOG_WARN << "thermal camera: switching to calibration profile " << profile
+                     << " FAILED (see above)";
+    }
 
     // The one way the mode changes - `mode ...`, the a / p / m keys, [Startup] mode, and a
     // test pausing the scan all come here. Returns false, having said why and
@@ -3160,8 +3319,9 @@ struct Application::Impl {
         } else if (c.verb == "exit") {
             running = false;
         } else if (c.verb == "camera") {
-            if (c.device == "reset") resetCameras();
+            if (c.device == "reset") resetCameras(c.option);
-            else LOG_WARN << "usage: camera reset";
+            else if (c.device == "calib") handleCalib(c);
+            else LOG_WARN << "usage: camera reset [<camera>]  |  camera calib [<profile>]";
         } else if (c.verb == "snapshot") {
             takeSnapshot();
         } else if (c.verb == "capture") {

src/core/ChannelTopics.cpp

@@ -1,6 +1,7 @@
 #include "fgc/ChannelTopics.h"
 
 #include <cctype>
+#include <cmath>
 #include <cstdio>
 
 namespace fgc {
@@ -9,23 +10,47 @@ std::string towerTopic(const std::string& tower, const std::string& leaf) {
     return "GGS/FWT/" + tower + "/" + leaf;
 }
 
-std::string camEventJson(const CamEvent& e) {
-    return "{ \"fwt\":\"" + e.tower + "\", \"cam\":\"" + e.camera +
-           "\", \"hdg\":" + std::to_string(e.heading_decideg) +
-           ", \"pit\":" + std::to_string(e.pitch_decideg) +
-           ", \"time\":" + std::to_string(e.timestamp_ms) + " }";
-}
-
 namespace {
 
+// Fixed-point, with a '.' whatever the C locale says. printf would follow
+// LC_NUMERIC, and the thermal camera's SDK sets that to a comma locale when it
+// loads (seen on tower 111: "hotx":0,4336) - which is no longer JSON.
 std::string num(double v, int decimals) {
-    char b[32];
+    if (!std::isfinite(v)) return "null";
-    std::snprintf(b, sizeof(b), "%.*f", decimals, v);
+    long long scale = 1;
-    return b;
+    for (int i = 0; i < decimals; ++i) scale *= 10;
+    const long long n   = std::llround(v * static_cast<double>(scale));
+    const bool      neg = n < 0;
+    const unsigned long long a = neg ? 0ULL - static_cast<unsigned long long>(n)
+                                     : static_cast<unsigned long long>(n);
+    std::string out = (neg ? "-" : "") + std::to_string(a / static_cast<unsigned long long>(scale));
+    if (decimals > 0) {
+        std::string frac = std::to_string(a % static_cast<unsigned long long>(scale));
+        out += "." + std::string(static_cast<size_t>(decimals) - frac.size(), '0') + frac;
+    }
+    return out;
 }
 
 }  // namespace
 
+std::string camEventJson(const CamEvent& e) {
+    std::string out = "{ \"fwt\":" + jsonString(e.tower) + ", \"cam\":" + jsonString(e.camera) +
+                      ", \"hdg\":" + std::to_string(e.heading_decideg) +
+                      ", \"pit\":" + std::to_string(e.pitch_decideg) +
+                      ", \"time\":" + std::to_string(e.timestamp_ms);
+    if (e.thermal) {
+        const ThermalEventFields& t = *e.thermal;
+        auto opt = [&t](const std::string& v) { return t.stats_ok ? v : std::string("null"); };
+        out += ", \"cal\":" + std::to_string(t.cal) +
+               ", \"missed\":" + std::to_string(t.missed) +
+               ", \"tmax\":" + opt(std::to_string(t.tmax_decic)) +
+               ", \"tmed\":" + opt(std::to_string(t.tmed_decic)) +
+               ", \"hotx\":" + opt(num(t.hotx, 4)) +
+               ", \"hoty\":" + opt(num(t.hoty, 4));
+    }
+    return out + " }";
+}
+
 std::string healthJson(const HealthReport& h) {
     auto opt = [](bool ok, double v, int d) { return ok ? num(v, d) : std::string("null"); };
     return "{\"fwt\":" + jsonString(h.tower) + ",\"state\":" + jsonString(h.state) +
@@ -40,6 +65,7 @@ std::string healthJson(const HealthReport& h) {
            ",\"saved_last_min\":" + std::to_string(h.save_count_last_min) +
            ",\"save_ms_mean\":" + opt(h.save_count_last_min > 0, h.save_ms_mean, 0) +
            ",\"save_ms_max\":" + opt(h.save_count_last_min > 0, h.save_ms_max, 0) +
+           ",\"cams_offline\":" + jsonString(h.cams_offline) +
            ",\"held_s\":" + std::to_string(h.held_s) +
            ",\"interval_s\":" + num(h.interval_s, 1) +
            ",\"time\":" + std::to_string(h.timestamp_ms) + "}";

src/core/Config.cpp

@@ -383,9 +383,17 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
         c.profile_dir  = get(kv, pre + "profile_dir");
         c.profile      = get(kv, pre + "profile", c.profile);
         c.rotation_deg = getInt(kv, pre + "rotation_deg", c.rotation_deg);
-        c.jxl_distance = getDouble(kv, pre + "jxl_distance", cfg.camera.jxl_distance);
+        // A thermal camera's counts are measurements: lossless unless someone
+        // asks otherwise, and asking is refused below.
+        c.jxl_distance = getDouble(kv, pre + "jxl_distance",
+                                   c.driver == "taris" ? 0.0 : cfg.camera.jxl_distance);
         c.jxl_effort   = getInt(kv, pre + "jxl_effort", cfg.camera.jxl_effort);
         c.demosaic     = lowered(get(kv, pre + "demosaic", cfg.camera.demosaic));
+        c.calib_profile    = getInt(kv, pre + "calib_profile", c.calib_profile);
+        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.interface        = get(kv, pre + "interface");
 
         // Per-profile timing: Camera.<name>.<profile>.settle_wait_ms
         for (const auto& [key, val] : kv) {
@@ -407,13 +415,28 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
                                          "'fixed' or 'brightness'");
         }
 
-        if (c.driver != "vimba")
+        if (c.driver != "vimba" && c.driver != "taris")
-            throw std::runtime_error("Camera." + name + ".driver must be 'vimba' (got '" +
+            throw std::runtime_error("Camera." + name + ".driver must be 'vimba' or 'taris' (got '" +
-                                     c.driver + "'); no other backend is implemented yet");
+                                     c.driver + "')");
         if (c.enabled && c.id.empty())
-            throw std::runtime_error("Camera." + name + ".id is required (USB DEV_ id or GigE IP)");
+            throw std::runtime_error("Camera." + name + ".id is required (" +
-        if (c.profile_dir.empty())
+                                     (c.thermal() ? "the camera's serial number"
+                                                  : "USB DEV_ id or GigE IP") + ")");
+        if (!c.thermal() && c.profile_dir.empty())
             throw std::runtime_error("Camera." + name + ".profile_dir is required");
+        if (c.thermal()) {
+            if (c.jxl_distance != 0.0)
+                throw std::runtime_error("Camera." + name + ".jxl_distance must be 0: a thermal "
+                                         "camera's counts are always saved lossless");
+            if (c.calib_profile < 0)
+                throw std::runtime_error("Camera." + name + ".calib_profile must be >= 0");
+            if (!(c.frame_rate_hz > 0.0 && c.frame_rate_hz <= 50.0))
+                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.library.empty())
+                throw std::runtime_error("Camera." + name + ".library must not be empty");
+        }
         if (c.jxl_distance < 0.0)
             throw std::runtime_error("Camera." + name + ".jxl_distance must be >= 0 (0 = lossless)");
         if (c.jxl_effort < 1 || c.jxl_effort > 9)
@@ -431,6 +454,27 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
         }
         cfg.camera.cameras.push_back(std::move(c));
     }
+    // A thermal camera takes the newest frame it already has, so it needs no
+    // settle wait of its own; without a timing block it must not hold the scan
+    // to the 1000 ms default (the scan waits for the longest camera).
+    for (auto& c : cfg.camera.cameras)
+        if (c.thermal() && c.timing.find(c.profile) == c.timing.end())
+            c.timing[c.profile] = CameraProfileTiming{0, 0, "fixed"};
+    // Colour cameras first (see CameraConfig::cameras): the keep rule reads camera
+    // 0, and a thermal camera has none of the features it needs.
+    std::stable_partition(cfg.camera.cameras.begin(), cfg.camera.cameras.end(),
+                          [](const CameraSpec& c) { return !c.thermal(); });
+    // The label is the output folder, and the cameras of one picture share its
+    // timestamp: two with one label would write the same file.
+    for (size_t i = 0; i < cfg.camera.cameras.size(); ++i)
+        for (size_t j = i + 1; j < cfg.camera.cameras.size(); ++j) {
+            const auto& a = cfg.camera.cameras[i];
+            const auto& b = cfg.camera.cameras[j];
+            if (a.enabled && b.enabled && a.label == b.label)
+                throw std::runtime_error("Camera." + a.name + " and Camera." + b.name +
+                                         " both have label '" + a.label +
+                                         "': each camera needs its own (its output folder)");
+        }
 
     std::string out = get(kv, "Paths.output_dir");
     cfg.paths.output_dir = out.empty() ? paths::defaultOutputDir() : paths::expandUser(out);
@@ -770,6 +814,7 @@ AppConfig ConfigLoader::loadFromFile(const std::string& path, const std::string&
     }
     // Same for each camera's profile directory.
     for (auto& c : cfg.camera.cameras) {
+        if (c.profile_dir.empty()) continue;   // a thermal camera has none
         std::filesystem::path pd(paths::expandUser(c.profile_dir));
         if (pd.is_relative()) pd = std::filesystem::path(path).parent_path() / pd;
         c.profile_dir = pd.lexically_normal().string();

src/core/HelpText.cpp

@@ -49,10 +49,17 @@ const std::vector<HelpSection>& helpCatalog() {
                 "setup or test."}},
             {"set camera profile [<camera>] <name>", "Switch a camera's VimbaX settings profile.", {
                 "<name> is an XML stem in that camera's profile_dir. The camera may be",
-                "omitted when only one is configured.",
+                "omitted when only one colour camera is configured. For the thermal",
+                "camera it only picks the timing block.",
                 "Example:  set camera profile night"}},
-            {"camera reset", "Reboot the cameras and restore their profiles.", {
+            {"camera reset [<camera>]", "Reboot the cameras and restore their profiles.", {
-                "For a stream that has stopped and will not restart. Takes seconds."}},
+                "For a stream that has stopped and will not restart. Takes seconds.",
+                "Name one camera (block name or label) to reset only that one."}},
+            {"camera calib [<profile>]", "The thermal camera's calibration profile.", {
+                "Bare: which profile, and its K per count. With a number: switch (about",
+                "3 s, no thermal frames meanwhile). Profile 0 is -40..120 degC at",
+                "0.01 K per count, 1 is 0..600 degC at 0.02 K. Every CamEvent says",
+                "which one its image was taken on (cal)."}},
         }},
         {"Positioning", "Yaw is a true bearing (0 = north); pitch is elevation (0 = level).", {
             {"gimbal move <yaw>[,<pitch>]", "Point at a bearing/elevation in degrees.", {

src/core/RawImage.cpp

@@ -1,5 +1,7 @@
 #include "fgc/RawImage.h"
 
+#include <cstring>
+
 namespace fgc {
 
 const char* layoutName(PixelLayout layout) {
@@ -8,6 +10,7 @@ const char* layoutName(PixelLayout layout) {
         case PixelLayout::RGB8:       return "RGB8";
         case PixelLayout::BayerRG8:   return "BayerRG8";
         case PixelLayout::BayerRG12p: return "BayerRG12p";
+        case PixelLayout::Mono16:     return "Mono16";
         case PixelLayout::Unknown:    break;
     }
     return "Unknown";
@@ -15,7 +18,7 @@ const char* layoutName(PixelLayout layout) {
 
 PixelLayout layoutFromName(const std::string& name) {
     for (PixelLayout l : {PixelLayout::Mono8, PixelLayout::RGB8, PixelLayout::BayerRG8,
-                          PixelLayout::BayerRG12p})
+                          PixelLayout::BayerRG12p, PixelLayout::Mono16})
         if (name == layoutName(l)) return l;
     return PixelLayout::Unknown;
 }
@@ -30,6 +33,7 @@ int layoutBits(PixelLayout layout) {
         case PixelLayout::RGB8:
         case PixelLayout::BayerRG8:   return 8;
         case PixelLayout::BayerRG12p: return 12;
+        case PixelLayout::Mono16:     return 16;
         case PixelLayout::Unknown:    break;
     }
     return 0;
@@ -42,6 +46,7 @@ size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height) {
         case PixelLayout::BayerRG8:   return n;
         case PixelLayout::RGB8:       return n * 3;
         case PixelLayout::BayerRG12p: return (n * 3 + 1) / 2;
+        case PixelLayout::Mono16:     return n * 2;
         case PixelLayout::Unknown:    break;
     }
     return 0;
@@ -49,6 +54,12 @@ size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height) {
 
 namespace {
 
+inline uint16_t px16(const uint8_t* in, size_t i) {
+    uint16_t v;
+    std::memcpy(&v, in + i * 2, sizeof v);   // host order, possibly unaligned
+    return v;
+}
+
 inline uint16_t px12p(const uint8_t* in, size_t i) {
     const uint8_t* p = in + (i >> 1) * 3;
     return (i & 1) == 0 ? static_cast<uint16_t>(p[0] | ((p[1] & 0x0F) << 8))
@@ -79,7 +90,9 @@ BrightnessSample sampleBrightness(const uint8_t* frame, size_t bytes, PixelLayou
     double       sum = 0;
     size_t       hi = 0;
     for (size_t i = 0; i < values; i += stride) {
-        double v = layout == PixelLayout::BayerRG12p ? px12p(frame, i) / 16.0 : frame[i];
+        double v = layout == PixelLayout::BayerRG12p ? px12p(frame, i) / 16.0
+                 : layout == PixelLayout::Mono16     ? px16(frame, i) / 256.0
+                                                     : frame[i];
         sum += v;
         hi += v >= 250.0;
         ++s.samples;

src/core/TestRunner.cpp

@@ -1298,8 +1298,12 @@ void TestRunner::testCamera(TestReport& r) {
                            f.channels != run.channels) {
                     run.consistent = false;
                 }
-                if (f.data.size() != static_cast<size_t>(f.width) * f.height * f.channels)
+                // By layout where it is known: packed 12-bit and 16-bit counts are
-                    run.consistent = false;
+                // not one byte per value.
+                const size_t expect = f.layout != PixelLayout::Unknown
+                                          ? layoutFrameBytes(f.layout, f.width, f.height)
+                                          : static_cast<size_t>(f.width) * f.height * f.channels;
+                if (f.data.size() != expect) run.consistent = false;
                 ++run.got;
             }
             const double secs = std::chrono::duration<double>(
@@ -1316,6 +1320,17 @@ void TestRunner::testCamera(TestReport& r) {
 
         if (!want_dark && !want_bright) continue;
 
+        // A thermal camera has no exposure to force: dark and bright are checks
+        // for a colour camera.
+        {
+            double elo = 0, ehi = 0;
+            if (!cam->featureRange(i, "ExposureTime", elo, ehi)) {
+                if (want_dark) sd.notes.push_back(cn + ": not applicable (no exposure control)");
+                if (want_bright) sb.notes.push_back(cn + ": not applicable (no exposure control)");
+                continue;
+            }
+        }
+
         // From here the camera is off its profile. It is put back below on every
         // path out of these phases, and a failure to put it back is a failure of
         // the test.

src/core/ThermalStats.cpp

@@ -0,0 +1,51 @@
+#include "fgc/ThermalStats.h"
+
+#include <cmath>
+#include <vector>
+
+namespace fgc {
+
+int countsToDeciC(uint32_t count, double kelvin_per_count) {
+    return static_cast<int>(std::lround((count * kelvin_per_count - 273.15) * 10.0));
+}
+
+ThermalStats thermalStats(const uint16_t* counts, uint32_t width, uint32_t height,
+                          const ThermalFrameInfo& info) {
+    ThermalStats s;
+    if (!counts || width == 0 || height == 0) return s;
+
+    // A histogram gives the median in one pass with no copy of the frame, and
+    // 64k bins are cheaper than sorting 300k values.
+    std::vector<uint32_t> hist(65536, 0);
+    const size_t n   = static_cast<size_t>(width) * height;
+    size_t       at  = 0;
+    uint16_t     max = 0;
+    for (size_t i = 0; i < n; ++i) {
+        const uint16_t c = counts[i];
+        if (c == 0 || c > info.valid_count_max) continue;
+        ++hist[c];
+        ++s.valid_pixels;
+        if (c > max) { max = c; at = i; }
+    }
+    if (s.valid_pixels == 0) return s;
+
+    // The lower median: the ((n-1)/2)-th value in sorted order.
+    const size_t want = (s.valid_pixels - 1) / 2;
+    size_t       seen = 0;
+    uint32_t     med  = 0;
+    for (uint32_t c = 1; c < hist.size(); ++c) {
+        seen += hist[c];
+        if (seen > want) { med = c; break; }
+    }
+
+    s.valid        = true;
+    s.max_count    = max;
+    s.median_count = static_cast<uint16_t>(med);
+    s.tmax_decic   = countsToDeciC(max, info.kelvin_per_count);
+    s.tmed_decic   = countsToDeciC(med, info.kelvin_per_count);
+    s.hotx         = (static_cast<double>(at % width) + 0.5) / width;
+    s.hoty         = (static_cast<double>(at / width) + 0.5) / height;
+    return s;
+}
+
+}  // namespace fgc

src/ui/TuiUi.cpp

@@ -379,6 +379,15 @@ Element sensorsPanel(const SensorsView& s) {
                        group(s.host, std::move(cpu_badge))}));
 }
 
+// "max 301.5 °C  median 18.7 °C  cal 0" for the last thermal picture.
+Element thermalLine(const CaptureView& c) {
+    if (!c.thermal_stats_ok)
+        return text("no valid pixels  cal " + std::to_string(c.thermal_cal)) | color(Color::Yellow);
+    return hbox({text("max " + num(c.thermal_max_c, 1) + " \xC2\xB0" "C") | bold,
+                 text("  median " + num(c.thermal_med_c, 1) + " \xC2\xB0" "C") | dim,
+                 text("  cal " + std::to_string(c.thermal_cal)) | dim});
+}
+
 Element cameraPanel(const CaptureView& c) {
     std::string labels;
     for (size_t i = 0; i < c.labels.size(); ++i)
@@ -417,6 +426,12 @@ Element cameraPanel(const CaptureView& c) {
     } else {
         rows.push_back(labelRow("last", text("\xE2\x80\x94") | dim));
     }
+    if (c.has_thermal) rows.push_back(labelRow("thermal", thermalLine(c)));
+    for (size_t i = 0; i < c.devices.size(); ++i)
+        if (!c.devices[i].offline.empty())
+            rows.push_back(labelRow("offline", text((i < c.labels.size() ? c.labels[i] : "?") +
+                                                    "  " + c.devices[i].offline) |
+                                                   color(Color::Yellow)));
     return panel("[c] CAMERAS", Color::Blue, vbox(std::move(rows)));
 }
 
@@ -442,12 +457,15 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
     for (size_t i = 0; i < c.devices.size(); ++i) {
         const CameraDeviceView& d = c.devices[i];
         std::string label = i < c.labels.size() ? c.labels[i] : ("cam" + std::to_string(i));
-        Element st = d.streaming ? (text("streaming") | color(Color::Green))
+        Element st = !d.offline.empty() ? (text("offline") | color(Color::Red))
+                     : d.streaming     ? (text("streaming") | color(Color::Green))
                                        : (text("stopped") | color(Color::Yellow));
         rows.push_back(hbox({text(label + "  ") | bold,
                              text(d.model.empty() ? "?" : d.model) | color(Color::Cyan),
                              text("  " + d.id) | dim, filler(), st}));
         rows.push_back(row("  serial", text(d.serial.empty() ? "—" : d.serial) | dim));
+        if (!d.offline.empty())
+            rows.push_back(row("  offline", text(d.offline) | color(Color::Red)));
         rows.push_back(row("  frame", text(std::to_string(d.width) + "x" + std::to_string(d.height) +
                                            "  " + num(d.payload_bytes / 1048576.0, 1) + " MB")));
         rows.push_back(row("  exposure", text(num(d.exposure_us, 0) + " us   gain " +
@@ -465,8 +483,17 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
     // --- Cameras: one block each, everything explicit ---
     const CameraConfigView& cf = c.config;
     rows.push_back(separator());
+    {
+        // Which backends: "Vimba X", "Vimba X + TarisIR".
+        std::string backends;
+        auto add = [&backends](const std::string& b) {
+            if (backends.find(b) == std::string::npos) backends += (backends.empty() ? "" : " + ") + b;
+        };
+        for (const auto& v : cf.cameras)
+            if (v.enabled) add(v.driver == "taris" ? "TarisIR" : "Vimba X");
         rows.push_back(hbox({text("CAMERAS") | bold | color(Color::Blue),
-                         text(cf.mock ? "  MOCK (simulated)" : "  Vimba X") | dim}));
+                             text(cf.mock ? "  MOCK (simulated)" : "  " + backends) | dim}));
+    }
     if (cf.cameras.empty()) rows.push_back(text("(no cameras configured)") | dim);
     for (const auto& v : cf.cameras) {
         rows.push_back(hbox({
@@ -486,7 +513,11 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
         }
         rows.push_back(row("  settle", text(std::to_string(v.settle_wait_ms) +
                                             " ms after standstill before keeping a frame")));
-        rows.push_back(row("  encoding", text("JPEG XL   distance " + num(v.jxl_distance, 2) +
+        rows.push_back(row("  encoding",
+                           text(v.driver == "taris"
+                                    ? "JPEG XL   lossless 16-bit counts   effort " +
+                                          std::to_string(v.jxl_effort)
+                                    : "JPEG XL   distance " + num(v.jxl_distance, 2) +
                                           "   effort " + std::to_string(v.jxl_effort))));
         rows.push_back(row("  rotation", text(v.rotation_deg == 0
                                                   ? std::string("none")
@@ -503,6 +534,7 @@ Element cameraDetailPanel(const CaptureView& c, ScrollState& st) {
                                                 formatDegrees(c.last_pitch_deg) + "  " +
                                                 formatTimeAgo(now, c.last_ts_ms))));
     }
+    if (c.has_thermal) rows.push_back(row("last thermal", thermalLine(c)));
 
     // --- Scan grid ---
     rows.push_back(separator());

tests/CMakeLists.txt

@@ -58,6 +58,9 @@ add_executable(fgc_tests
   test_hostmetrics.cpp
   test_testrunner.cpp
   test_rawimage.cpp
+  test_thermalstats.cpp
+  test_composite.cpp
+  test_tariscamerasource.cpp
   test_settlerule.cpp
   test_thermalguard.cpp
 )

tests/test_channelhistory.cpp

@@ -1,5 +1,7 @@
 #include <doctest/doctest.h>
 
+#include <clocale>
+
 #include "fgc/ChannelHistory.h"
 #include "fgc/ChannelTopics.h"
 
@@ -82,4 +84,52 @@ TEST_CASE("topic and payload builders match the documented wire format") {
     CHECK(j.find("\"time\":1719312345678") != std::string::npos);
     // The quality gate is gone; nothing should still be publishing a verdict.
     CHECK(j.find("degraded") == std::string::npos);
+    // A colour camera's event carries none of the thermal fields.
+    CHECK(j.find("\"cal\"") == std::string::npos);
+    CHECK(j == "{ \"fwt\":\"Tower\", \"cam\":\"RGB\", \"hdg\":1373, \"pit\":300, "
+               "\"time\":1719312345678 }");
+}
+
+TEST_CASE("a thermal CamEvent carries profile, packets, temperatures and hot spot") {
+    CamEvent c;
+    c.tower = "Tower"; c.camera = "TIR";
+    c.heading_decideg = 1234; c.pitch_decideg = -30; c.timestamp_ms = 1791234567890LL;
+    ThermalEventFields t;
+    t.cal = 0; t.missed = 2; t.stats_ok = true;
+    t.tmax_decic = 3015; t.tmed_decic = 187; t.hotx = 0.73594; t.hoty = 0.5833;
+    c.thermal = t;
+    CHECK(camEventJson(c) ==
+          "{ \"fwt\":\"Tower\", \"cam\":\"TIR\", \"hdg\":1234, \"pit\":-30, "
+          "\"time\":1791234567890, \"cal\":0, \"missed\":2, \"tmax\":3015, \"tmed\":187, "
+          "\"hotx\":0.7359, \"hoty\":0.5833 }");
+
+    // Without valid pixels the profile and packets still go out, the rest as null.
+    c.thermal->stats_ok = false;
+    const std::string j = camEventJson(c);
+    CHECK(j.find("\"cal\":0, \"missed\":2, \"tmax\":null, \"tmed\":null, \"hotx\":null, "
+                 "\"hoty\":null }") != std::string::npos);
+}
+
+TEST_CASE("numbers in the JSON keep their '.' under a comma locale") {
+    // The thermal camera's SDK switches the C locale to one with a decimal comma.
+    const std::string before = std::setlocale(LC_NUMERIC, nullptr);
+    const bool comma = std::setlocale(LC_NUMERIC, "de_DE.UTF-8") != nullptr;
+    CamEvent c;
+    c.tower = "T"; c.camera = "TIR";
+    ThermalEventFields t;
+    t.stats_ok = true; t.hotx = 0.43359; t.hoty = 1.0;
+    c.thermal = t;
+    const std::string j = camEventJson(c);
+    std::setlocale(LC_NUMERIC, before.c_str());
+    CHECK(j.find("\"hotx\":0.4336, \"hoty\":1.0000") != std::string::npos);
+    if (!comma) MESSAGE("no de_DE locale here: checked under the C locale only");
+    HealthReport h;
+    h.interval_s = -2.25;
+    CHECK(healthJson(h).find("\"interval_s\":-2.3") != std::string::npos);   // rounds half away
+}
+
+TEST_CASE("CamEvent names are escaped") {
+    CamEvent c;
+    c.tower = "a\"b"; c.camera = "RGB";
+    CHECK(camEventJson(c).find("\"fwt\":\"a\\\"b\"") != std::string::npos);
 }

tests/test_composite.cpp

@@ -0,0 +1,195 @@
+#include "fgc/CompositeCameraSource.h"
+
+#include <doctest/doctest.h>
+
+#include <stdexcept>
+#include <vector>
+
+using namespace fgc;
+
+namespace {
+
+// A source of `count` cameras whose trigger() delivers one frame per camera,
+// stamped `ts`, when `ready` - and reports nothing otherwise.
+struct FakeSource : ICameraSource {
+    int           count;
+    long long     ts;
+    bool          counts_after_open = false;   // as Vimba: no cameras until open()
+    bool          opened = false;
+    bool          ready = true;
+    bool          throws_on_open = false;
+    int           triggers = 0;
+    bool          started = false;
+    std::string   why_offline;
+    FrameCallback cb;
+
+    FakeSource(int n, long long t) : count(n), ts(t) {}
+
+    void open() override {
+        if (throws_on_open) throw std::runtime_error("no camera");
+        opened = true;
+    }
+    void close() override {}
+    void start() override { started = true; }
+    void stop() override { started = false; }
+    bool trigger() override {
+        ++triggers;
+        if (!ready) return false;
+        for (int i = 0; i < count; ++i) {
+            Frame f;
+            f.cam_id       = i;
+            f.timestamp_ms = ts + i;
+            cb(f);
+        }
+        return true;
+    }
+    void setFrameCallback(FrameCallback c) override { cb = std::move(c); }
+    int  cameraCount() const override { return counts_after_open && !opened ? 0 : count; }
+    bool readFeature(int i, const std::string& name, double& v) override {
+        v = i * 100 + ts;
+        return name == "X";
+    }
+    std::string offline(int) override { return why_offline; }
+    std::vector<CameraDeviceInfo> deviceInfo() override {
+        std::vector<CameraDeviceInfo> out(count);
+        for (int i = 0; i < count; ++i) out[i].id = std::to_string(ts) + ":" + std::to_string(i);
+        return out;
+    }
+    bool grabFrame(int i, Frame& out, int) override {
+        out              = Frame{};
+        out.cam_id       = i;
+        out.timestamp_ms = ts + 50;
+        return true;
+    }
+};
+
+struct Rig {
+    FakeSource*            colour  = nullptr;
+    FakeSource*            thermal = nullptr;
+    std::unique_ptr<CompositeCameraSource> src;
+    std::vector<Frame>     frames;
+
+    explicit Rig(int colour_count = 1) {
+        auto c  = std::make_unique<FakeSource>(colour_count, 1000);
+        auto t  = std::make_unique<FakeSource>(1, 5000);
+        colour  = c.get();
+        thermal = t.get();
+        std::vector<std::unique_ptr<ICameraSource>> v;
+        v.push_back(std::move(c));
+        v.push_back(std::move(t));
+        src = std::make_unique<CompositeCameraSource>(std::move(v));
+        src->setFrameCallback([this](const Frame& f) { frames.push_back(f); });
+    }
+};
+
+}  // namespace
+
+TEST_CASE("the composite numbers the cameras leader first, and counts them all") {
+    Rig r(2);
+    CHECK(r.src->cameraCount() == 3);
+    REQUIRE(r.src->trigger());
+    REQUIRE(r.frames.size() == 3);
+    CHECK(r.frames[0].cam_id == 0);
+    CHECK(r.frames[1].cam_id == 1);
+    CHECK(r.frames[2].cam_id == 2);   // the thermal camera
+}
+
+TEST_CASE("one trigger gives every frame the leader's time") {
+    Rig r;
+    REQUIRE(r.src->trigger());
+    REQUIRE(r.frames.size() == 2);
+    CHECK(r.frames[0].timestamp_ms == 1000);
+    CHECK(r.frames[1].timestamp_ms == 1000);   // not its own 5000
+}
+
+TEST_CASE("the followers are asked only once the leader has delivered") {
+    Rig r;
+    r.colour->ready = false;
+    CHECK_FALSE(r.src->trigger());
+    CHECK_FALSE(r.src->trigger());
+    CHECK(r.thermal->triggers == 0);   // no thermal picture without its colour one
+    CHECK(r.frames.empty());
+    r.colour->ready = true;
+    CHECK(r.src->trigger());
+    CHECK(r.thermal->triggers == 1);
+}
+
+TEST_CASE("a follower with nothing to give costs only its own picture") {
+    Rig r;
+    r.thermal->ready = false;
+    CHECK(r.src->trigger());
+    REQUIRE(r.frames.size() == 1);
+    CHECK(r.frames[0].cam_id == 0);
+}
+
+TEST_CASE("calls about one camera reach the source that has it") {
+    Rig r(2);
+    double v = 0;
+    REQUIRE(r.src->readFeature(1, "X", v));
+    CHECK(v == 1100);                 // colour source, its camera 1
+    REQUIRE(r.src->readFeature(2, "X", v));
+    CHECK(v == 5000);                 // thermal source, its camera 0
+    CHECK_FALSE(r.src->readFeature(3, "X", v));
+
+    r.thermal->why_offline = "unplugged";
+    CHECK(r.src->offline(0).empty());
+    CHECK(r.src->offline(2) == "unplugged");
+
+    const auto d = r.src->deviceInfo();
+    REQUIRE(d.size() == 3);
+    CHECK(d[2].id == "5000:0");
+
+    // A grab outside a trigger keeps its own time, under the global index.
+    Frame f;
+    REQUIRE(r.src->grabFrame(2, f, 10));
+    CHECK(f.cam_id == 2);
+    CHECK(f.timestamp_ms == 5050);
+}
+
+TEST_CASE("the indices are the configured ones, also before the leader has opened") {
+    // On tower 111 the thermal frame came out as camera 0 - "RGB", overwriting
+    // the colour file of the same time - because Vimba counts no camera before
+    // open() and the offsets were taken from that.
+    auto c = std::make_unique<FakeSource>(1, 1000);
+    auto t = std::make_unique<FakeSource>(1, 5000);
+    c->counts_after_open = true;
+    FakeSource* colour = c.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});
+    std::vector<Frame> frames;
+    src.setFrameCallback([&](const Frame& f) { frames.push_back(f); });
+    CHECK(src.cameraCount() == 1);   // what is open: the thermal camera only
+    src.open();
+    CHECK(colour->opened);
+    CHECK(src.cameraCount() == 2);
+    REQUIRE(src.trigger());
+    REQUIRE(frames.size() == 2);
+    CHECK(frames[0].cam_id == 0);
+    CHECK(frames[1].cam_id == 1);
+    CHECK(src.offline(1).empty());
+    CHECK_THROWS(CompositeCameraSource(std::vector<std::unique_ptr<ICameraSource>>{}, {}));
+}
+
+TEST_CASE("start and stop reach every source") {
+    Rig r;
+    r.src->start();
+    CHECK(r.colour->started);
+    CHECK(r.thermal->started);
+    r.src->stop();
+    CHECK_FALSE(r.thermal->started);
+}
+
+TEST_CASE("a follower that will not open does not stop the run; the leader does") {
+    {
+        Rig r;
+        r.thermal->throws_on_open = true;
+        CHECK_NOTHROW(r.src->open());
+    }
+    {
+        Rig r;
+        r.colour->throws_on_open = true;
+        CHECK_THROWS(r.src->open());
+    }
+}

tests/test_config.cpp

@@ -275,7 +275,7 @@ TEST_CASE("Camera blocks reject what cannot work") {
     };
     CHECK_NOTHROW(ConfigLoader::fromMap(base({})));
 
-    // No second backend exists yet; accepting the key silently would be worse.
+    // An unknown backend; accepting the key silently would be worse.
     CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.driver", "thermal"}})));
     // An enabled camera with no id cannot be opened.
     CHECK_THROWS(ConfigLoader::fromMap({{"Camera.rgb.profile_dir", "/tmp/p"}}));
@@ -288,6 +288,93 @@ TEST_CASE("Camera blocks reject what cannot work") {
     CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.rgb.standard.settle_wait", "500"}})));
 }
 
+TEST_CASE("A thermal camera needs no settings XML and is always lossless") {
+    AppConfig c = ConfigLoader::fromMap({
+        {"Camera.jxl_distance", "0.8"},
+        {"Camera.rgb.id", "DEV_1"},
+        {"Camera.rgb.profile_dir", "/tmp/p"},
+        {"Camera.tir.driver", "taris"},
+        {"Camera.tir.id", "2017744"},
+        {"Camera.tir.label", "TIR"},
+        {"Camera.tir.calib_profile", "1"},
+        {"Camera.tir.frame_rate_hz", "9"},
+        {"Camera.tir.interface", "enp1s0"},
+        {"Camera.tir.standard.settle_wait_ms", "200"},
+    });
+    REQUIRE(c.camera.cameras.size() == 2);
+    const CameraSpec& tir = c.camera.cameras[1];
+    CHECK(tir.thermal());
+    CHECK_FALSE(c.camera.cameras[0].thermal());
+    CHECK(tir.label == "TIR");
+    CHECK(tir.profile_dir.empty());
+    CHECK(tir.calib_profile == 1);
+    CHECK(tir.frame_rate_hz == doctest::Approx(9.0));
+    CHECK(tir.max_frame_age_ms == 400);
+    CHECK(tir.library == "libirbgrab_x86_64-linux.so");
+    CHECK(tir.interface == "enp1s0");
+    // [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));
+    CHECK(c.camera.maxSettleWaitMs() == 1000);   // the colour camera's default is longer
+}
+
+TEST_CASE("A thermal camera without a timing block does not slow the scan") {
+    AppConfig c = ConfigLoader::fromMap({
+        {"Camera.rgb.id", "DEV_1"},
+        {"Camera.rgb.profile_dir", "/tmp/p"},
+        {"Camera.rgb.standard.settle_wait_ms", "500"},
+        {"Camera.rgb.standard.frame_timeout_ms", "700"},
+        {"Camera.tir.driver", "taris"},
+        {"Camera.tir.id", "2017744"},
+    });
+    CHECK(c.camera.maxSettleWaitMs() == 500);
+    CHECK(c.camera.maxFrameTimeoutMs() == 700);
+}
+
+TEST_CASE("Colour cameras come first whatever the block names") {
+    // Camera 0 is the one the keep rule reads; a thermal camera cannot be it.
+    AppConfig c = ConfigLoader::fromMap({
+        {"Camera.a_tir.driver", "taris"},
+        {"Camera.a_tir.id", "2017744"},
+        {"Camera.rgb.id", "DEV_1"},
+        {"Camera.rgb.profile_dir", "/tmp/p"},
+        {"Camera.nir.id", "DEV_2"},
+        {"Camera.nir.profile_dir", "/tmp/p"},
+    });
+    REQUIRE(c.camera.cameras.size() == 3);
+    CHECK(c.camera.cameras[0].name == "nir");
+    CHECK(c.camera.cameras[1].name == "rgb");
+    CHECK(c.camera.cameras[2].name == "a_tir");
+}
+
+TEST_CASE("Thermal camera blocks reject what cannot work") {
+    auto base = [](std::map<std::string, std::string> extra) {
+        std::map<std::string, std::string> kv = {{"Camera.rgb.id", "DEV_1"},
+                                                 {"Camera.rgb.profile_dir", "/tmp/p"},
+                                                 {"Camera.tir.driver", "taris"},
+                                                 {"Camera.tir.id", "2017744"}};
+        for (auto& [k, v] : extra) kv[k] = v;
+        return kv;
+    };
+    CHECK_NOTHROW(ConfigLoader::fromMap(base({})));
+    // Counts are measurements: lossy coding would change them.
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.jxl_distance", "0.5"}})));
+    CHECK_NOTHROW(ConfigLoader::fromMap(base({{"Camera.tir.jxl_distance", "0"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.id", ""}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.calib_profile", "-1"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.frame_rate_hz", "0"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.frame_rate_hz", "60"}})));
+    CHECK_THROWS(ConfigLoader::fromMap(base({{"Camera.tir.max_frame_age_ms", "0"}})));
+    // 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");
+    // 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.
+    CHECK_NOTHROW(ConfigLoader::fromMap(
+        base({{"Camera.tir.id", ""}, {"Camera.tir.enabled", "false"}})));
+}
+
 TEST_CASE("updateIniSectionKeys replaces in-section keys, leaving others intact") {
     const std::string in =
         "[General]\n"

tests/test_imagepipeline.cpp

@@ -5,6 +5,7 @@
 #include <doctest/doctest.h>
 
 #include <chrono>
+#include <cstring>
 #include <filesystem>
 #include <mutex>
 #include <thread>
@@ -65,6 +66,24 @@ Frame bayerFrame(PixelLayout layout, uint32_t w, uint32_t h, int r, int g, int b
     return f;
 }
 
+// A thermal frame of counts: `room` everywhere, `hot` at (hx, hy).
+Frame thermalFrame(uint32_t w, uint32_t h, uint16_t room, uint16_t hot, uint32_t hx, uint32_t hy,
+                   long long ts, bool with_info = true) {
+    Frame f;
+    f.width = w; f.height = h; f.layout = PixelLayout::Mono16; f.channels = 1; f.timestamp_ms = ts;
+    std::vector<uint16_t> px(static_cast<size_t>(w) * h, room);
+    px[static_cast<size_t>(hy) * w + hx] = hot;
+    f.data.resize(px.size() * 2);
+    std::memcpy(f.data.data(), px.data(), f.data.size());
+    if (with_info) {
+        ThermalFrameInfo info;
+        info.cal            = 0;
+        info.missed_packets = 3;
+        f.thermal           = info;
+    }
+    return f;
+}
+
 bool waitSaved(const ImagePipeline& p, long long n, int ms = 20000) {
     const auto end = std::chrono::steady_clock::now() + std::chrono::milliseconds(ms);
     while (p.imagesSaved() < n && std::chrono::steady_clock::now() < end)
@@ -167,6 +186,86 @@ TEST_CASE("rotation applies to raw frames too") {
     CHECK(interiorMean(d, 48, 64, 0) == doctest::Approx(3200).epsilon(0.01));
 }
 
+TEST_CASE("thermal counts are saved 16-bit lossless with their temperatures in the event") {
+    TempDir     t;
+    FakeChannel ch;
+    auto        p = params(t, 0.8);   // a lossy setting must not reach the counts
+    p.cameras = {{"TIR", 0, 0.8, 1, true}};
+    ImagePipeline pipe(ch, [] { return Orientation{123.4f, -3.0f}; }, p);
+    pipe.start();
+    const Frame f = thermalFrame(64, 48, 29315, 57315, 40, 12, 4242);
+    pipe.submit(f);
+    REQUIRE(waitSaved(pipe, 1));
+    pipe.stop();
+
+    const std::string file = onlyFile(t);
+    CHECK(fs::path(file).parent_path().filename() == "TIR");
+    CHECK(fs::path(file).filename() == "4242.jxl");
+    const auto d = decode(file, 1);
+    CHECK(d.bits == 16);
+    CHECK(d.channels == 1);
+    REQUIRE(d.px.size() == 64u * 48);
+    CHECK(std::memcmp(d.px.data(), f.data.data(), f.data.size()) == 0);   // bit-exact
+
+    REQUIRE(ch.count() == 1);
+    const CamEvent& e = ch.events[0];
+    CHECK(e.camera == "TIR");
+    CHECK(e.heading_decideg == 1234);
+    REQUIRE(e.thermal);
+    CHECK(e.thermal->cal == 0);
+    CHECK(e.thermal->missed == 3);
+    CHECK(e.thermal->stats_ok);
+    CHECK(e.thermal->tmax_decic == 3000);
+    CHECK(e.thermal->tmed_decic == 200);
+    CHECK(e.thermal->hotx == doctest::Approx(40.5 / 64));
+    CHECK(e.thermal->hoty == doctest::Approx(12.5 / 48));
+}
+
+TEST_CASE("the thermal hot spot is where it is in the stored, rotated image") {
+    TempDir     t;
+    FakeChannel ch;
+    auto        p = params(t);
+    p.cameras = {{"TIR", 90, 0.0, 1, true}};
+    ImagePipeline pipe(ch, nullptr, p);
+    pipe.start();
+    // 64 x 48, hot at (40, 12). Rotated 90 deg clockwise it is 48 x 64, and a
+    // pixel at (x, y) moves to (H-1-y, x) = (35, 40).
+    pipe.submit(thermalFrame(64, 48, 29315, 40000, 40, 12, 5));
+    REQUIRE(waitSaved(pipe, 1));
+    pipe.stop();
+    const auto d = decode(onlyFile(t), 1);
+    REQUIRE(d.px.size() == 48u * 64);
+    CHECK(d.px[40 * 48 + 35] == 40000);
+    REQUIRE(ch.events[0].thermal);
+    CHECK(ch.events[0].thermal->hotx == doctest::Approx(35.5 / 48));
+    CHECK(ch.events[0].thermal->hoty == doctest::Approx(40.5 / 64));
+}
+
+TEST_CASE("a Mono16 frame without thermal info is saved, but its event has no thermal fields") {
+    TempDir     t;
+    FakeChannel ch;
+    ImagePipeline pipe(ch, nullptr, params(t));
+    pipe.start();
+    pipe.submit(thermalFrame(32, 16, 1000, 2000, 1, 1, 6, false));
+    REQUIRE(waitSaved(pipe, 1));
+    pipe.stop();
+    CHECK(decode(onlyFile(t), 1).bits == 16);
+    REQUIRE(ch.count() == 1);
+    CHECK_FALSE(ch.events[0].thermal);
+}
+
+TEST_CASE("an all-zero thermal frame is saved, its temperatures unknown") {
+    TempDir     t;
+    FakeChannel ch;
+    ImagePipeline pipe(ch, nullptr, params(t));
+    pipe.start();
+    pipe.submit(thermalFrame(32, 16, 0, 0, 0, 0, 7));
+    REQUIRE(waitSaved(pipe, 1));
+    pipe.stop();
+    REQUIRE(ch.events[0].thermal);
+    CHECK_FALSE(ch.events[0].thermal->stats_ok);
+}
+
 TEST_CASE("several workers save every frame") {
     TempDir     t;
     FakeChannel ch;

tests/test_jpegxl.cpp

@@ -91,6 +91,21 @@ TEST_CASE("12-bit lossless decodes exactly, extremes included") {
     }
 }
 
+TEST_CASE("16-bit single-channel lossless decodes exactly (thermal counts)") {
+    TempDir t;
+    // Counts around room temperature, plus the full range's ends.
+    auto src = image(96, 64, 1, 65535, 11);
+    for (size_t i = 0; i < src.size(); i += 3) src[i] = static_cast<uint16_t>(28000 + i % 2500);
+    src.front() = 0;
+    src.back()  = 65535;
+    REQUIRE(JpegXlEncoder::encodeToFile(t.file("ll16.jxl"), src.data(), 96, 64, 1, 16, 0.0f, 1, 2));
+    const auto d = decode(t.file("ll16.jxl"), 1);
+    CHECK(d.bits == 16);
+    CHECK(d.channels == 1);
+    CHECK(d.original_profile);
+    CHECK(d.px == src);
+}
+
 TEST_CASE("lossy keeps the bit depth and stays close") {
     TempDir t;
     SUBCASE("12-bit colour") {

tests/test_rawimage.cpp

@@ -26,7 +26,7 @@ std::vector<uint8_t> pack12p(const std::vector<uint16_t>& v) {
 
 TEST_CASE("layout names round-trip, and unknown formats are refused") {
     for (PixelLayout l : {PixelLayout::Mono8, PixelLayout::RGB8, PixelLayout::BayerRG8,
-                          PixelLayout::BayerRG12p})
+                          PixelLayout::BayerRG12p, PixelLayout::Mono16})
         CHECK(layoutFromName(layoutName(l)) == l);
     CHECK(layoutFromName("BayerRG12") == PixelLayout::Unknown);  // unpacked: not handled
     CHECK(layoutFromName("YCbCr422_8_CbYCrY") == PixelLayout::Unknown);
@@ -45,6 +45,19 @@ TEST_CASE("layout properties") {
     CHECK(layoutFrameBytes(PixelLayout::BayerRG8, 5328, 3040) == 16197120);
     CHECK(layoutFrameBytes(PixelLayout::RGB8, 5328, 3040) == 48591360);
     CHECK(layoutFrameBytes(PixelLayout::BayerRG12p, 3, 1) == 5);  // odd pixel count rounds up
+    // The thermal camera: 640 x 480 counts, two bytes each.
+    CHECK_FALSE(layoutIsBayer(PixelLayout::Mono16));
+    CHECK(layoutBits(PixelLayout::Mono16) == 16);
+    CHECK(layoutFrameBytes(PixelLayout::Mono16, 640, 480) == 614400);
+}
+
+TEST_CASE("brightness sample: 16-bit is reported on the 0..255 scale") {
+    std::vector<uint16_t> v(640 * 480, 0x8000);
+    const auto* b = reinterpret_cast<const uint8_t*>(v.data());
+    const auto  s = sampleBrightness(b, v.size() * 2, PixelLayout::Mono16, 640, 480);
+    REQUIRE(s.valid());
+    CHECK(s.mean == doctest::Approx(128.0));
+    CHECK(s.clipped == doctest::Approx(0.0));
 }
 
 TEST_CASE("unpack12p matches GenICam 12p, by hand") {

tests/test_tariscamerasource.cpp

@@ -0,0 +1,385 @@
+#include "fgc/TarisCameraSource.h"
+
+#include <doctest/doctest.h>
+
+#include <atomic>
+#include <chrono>
+#include <cstring>
+#include <mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+using namespace fgc;
+using namespace fgc::irbgrab;
+
+namespace {
+
+// A stand-in for the IRBGRAB SDK and one TarisIR mini behind it. The source
+// calls it from its worker thread; the test changes it from its own.
+struct FakeSdk {
+    std::mutex m;
+    std::vector<std::string> search{"SN:2017744|00:0e:c6:aa:bb:cc|192.168.0.200#0"};
+    std::string accept = "#0";          // connect succeeds for strings ending like this
+    std::vector<std::string> connect_attempts;
+    int      cal = 0;
+    int      calib_sets = 0;
+    float    rate = 0.f;
+    bool     grabbing = false;
+    int      inits = 0;
+    int      connects = 0;
+    // The newest frame: counts, and the camera's number for it.
+    std::vector<uint16_t> px;
+    int64_t  image_num = 0;              // ours; the camera reports 0 for every frame
+    int      lut_calls = 0;              // the first LUTs after connecting are empty
+    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)
+
+    void push(uint16_t v, uint16_t hot = 0) {
+        std::lock_guard<std::mutex> l(m);
+        px.assign(static_cast<size_t>(w) * h, v);
+        if (hot) px[5] = hot;
+        ++image_num;
+    }
+};
+FakeSdk* g = nullptr;
+
+void copyText(const std::string& s, char* buf, int len) {
+    std::memset(buf, 0, static_cast<size_t>(len));
+    std::memcpy(buf, s.data(), std::min<size_t>(s.size(), static_cast<size_t>(len) - 1));
+}
+
+Ret fInit() { std::lock_guard<std::mutex> l(g->m); ++g->inits; return kSuccess; }
+void fUninit() {}
+Ret fVersion(char* b, int n) { copyText("4.3.44", b, n); return kSuccess; }
+Ret fTypes(char* b, int n) { copyText("Simulator;TARISirmini", b, n); return kSuccess; }
+Ret fCreate(Handle* d, int32_t type, char*) { *d = type == 1 ? 42 : 0; return type == 1 ? kSuccess : kErrNotFound; }
+Ret fFree(Handle* d) { *d = 0; return kSuccess; }
+Ret fSearch(Handle, int32_t* n) {
+    std::lock_guard<std::mutex> l(g->m);
+    *n = static_cast<int32_t>(g->search.size());
+    return kSuccess;
+}
+Ret fConnect(Handle, char* s) {
+    std::lock_guard<std::mutex> l(g->m);
+    const std::string str = s;
+    g->connect_attempts.push_back(str);
+    const bool ok = str.size() >= g->accept.size() &&
+                    str.compare(str.size() - g->accept.size(), g->accept.size(), g->accept) == 0;
+    if (ok) { ++g->connects; g->lut_calls = 0; }
+    return ok ? kSuccess : kTypeErr | 0x10;
+}
+Ret fDisconnect(Handle) { return kSuccess; }
+Ret fStart(Handle, int32_t) { std::lock_guard<std::mutex> l(g->m); g->grabbing = true; return kSuccess; }
+Ret fStop(Handle, int32_t) { std::lock_guard<std::mutex> l(g->m); g->grabbing = false; return kSuccess; }
+Ret fGetParam(Handle, uint32_t what, void* data, uint32_t type) {
+    std::lock_guard<std::mutex> l(g->m);
+    if (what == param::kSearchString && type == kTypeIdxString) {
+        auto* p = static_cast<IdxString*>(data);
+        if (p->index < 0 || p->index >= static_cast<int>(g->search.size())) return kErrNotFound;
+        copyText(g->search[p->index], p->value.text, p->value.len);
+        return kSuccess;
+    }
+    if (what == param::kCalibActive && type == kTypeIdxInt32) {
+        static_cast<IdxInt32*>(data)->value = g->cal;
+        return kSuccess;
+    }
+    if (what == param::kCalibCount && type == kTypeInt32) { *static_cast<int32_t*>(data) = 2; return kSuccess; }
+    if (what == param::kCalibChangeInProgress && type == kTypeInt32) { *static_cast<int32_t*>(data) = 0; return kSuccess; }
+    if (what == param::kCalibName && type == kTypeIdxString) {
+        auto* p = static_cast<IdxString*>(data);
+        copyText(p->index == 0 ? "FF (-40-120C) #4101" : "FF (0-600C) #4102", p->value.text, p->value.len);
+        return kSuccess;
+    }
+    if (what == param::kCameraName && type == kTypeString) {
+        auto* p = static_cast<String*>(data);
+        copyText("TARISirmini", p->text, p->len);
+        return kSuccess;
+    }
+    if (what == param::kCameraTempHousing && type == kTypeSingle) { *static_cast<float*>(data) = 308.15f; return kSuccess; }
+    return kErrNotSupported;
+}
+Ret fSetParam(Handle, uint32_t what, void* data, uint32_t type) {
+    std::lock_guard<std::mutex> l(g->m);
+    if (what == param::kCalibActive && type == kTypeIdxInt32) {
+        g->cal = static_cast<IdxInt32*>(data)->value;
+        ++g->calib_sets;
+        return kSuccess;
+    }
+    if (what == param::kFramerateHz && type == kTypeSingle) { g->rate = *static_cast<float*>(data); return kSuccess; }
+    if (what == param::kPollingEnable) return kSuccess;
+    return kErrNotSupported;
+}
+// A memory object is a copy of the newest frame.
+struct Mem {
+    std::vector<uint16_t> px;
+    uint32_t w, h;
+    int64_t  num;
+    int      cal;
+};
+Ret fGetData(Handle, int32_t what, Handle* mem) {
+    std::lock_guard<std::mutex> l(g->m);
+    if (what != kMemIrDigitFrame || !g->grabbing || g->px.empty() || g->frozen) return g->no_frame;
+    *mem = reinterpret_cast<Handle>(new Mem{g->px, g->w, g->h, g->image_num, g->cal});
+    return kSuccess;
+}
+Ret fMemFree(Handle* mem) { delete reinterpret_cast<Mem*>(*mem); *mem = 0; return kSuccess; }
+Ret fDim(Handle mem, uint32_t* w, uint32_t* h, uint32_t* t) {
+    auto* m = reinterpret_cast<Mem*>(mem);
+    *w = m->w; *h = m->h; *t = 0;
+    return kSuccess;
+}
+Ret fPtr(Handle mem, Handle* p, int32_t* bytes) {
+    auto* m = reinterpret_cast<Mem*>(mem);
+    *p     = reinterpret_cast<Handle>(m->px.data());
+    *bytes = static_cast<int32_t>(m->px.size() * 2);
+    return kSuccess;
+}
+Ret fInfo(Handle mem, void* info) {
+    // As the TarisIR mini: no frame counter, but each frame has its own time.
+    auto* mi           = static_cast<MemInfo*>(info);
+    mi->image_num      = 0;
+    mi->timestamp_ms   = 200.0 * static_cast<double>(reinterpret_cast<Mem*>(mem)->num);
+    mi->missed_packets = 1;
+    return kSuccess;
+}
+Ret fLut(Handle mem, void* lut, float, float, float, float) {
+    const double kpc = reinterpret_cast<Mem*>(mem)->cal == 1 ? 0.02 : 0.01;
+    auto*        l   = static_cast<float*>(lut);
+    {
+        std::lock_guard<std::mutex> lk(g->m);
+        if (++g->lut_calls <= 2) {   // still empty, and "ok", as on the tower
+            for (int i = 0; i < 65536; ++i) l[i] = 0.f;
+            return kSuccess;
+        }
+    }
+    for (int i = 0; i < 65536; ++i) l[i] = static_cast<float>(i * kpc);
+    return kSuccess;
+}
+
+std::shared_ptr<const Api> fakeApi() {
+    auto a = std::make_shared<Api>();
+    a->dll_init = fInit; a->dll_uninit = fUninit; a->dll_version = fVersion;
+    a->dll_devicetypenames = fTypes; a->dev_create = fCreate; a->dev_free = fFree;
+    a->dev_search = fSearch; a->dev_connect = fConnect; a->dev_disconnect = fDisconnect;
+    a->dev_startgrab = fStart; a->dev_stopgrab = fStop; a->dev_getparam = fGetParam;
+    a->dev_setparam = fSetParam; a->dev_getdata = fGetData; a->mem_free = fMemFree;
+    a->mem_getdimension = fDim; a->mem_getdataptr = fPtr; a->mem_getinfo = fInfo;
+    a->mem_getdvlut = fLut;
+    return a;
+}
+
+TarisCameraSource::Options fastOptions() {
+    TarisCameraSource::Options o;
+    o.serial        = "2017744";
+    o.frame_rate_hz = 50;     // polls every 10 ms
+    o.retry_min_ms  = 20;
+    o.retry_max_ms  = 40;
+    o.stall_ms      = 2000;
+    return o;
+}
+
+// Each call of pred() counts: trigger() is not idempotent.
+template <class F> bool waitFor(F pred, int ms = 3000) {
+    const auto end = std::chrono::steady_clock::now() + std::chrono::milliseconds(ms);
+    for (;;) {
+        if (pred()) return true;
+        if (std::chrono::steady_clock::now() >= end) return false;
+        std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+}
+
+struct Harness {
+    FakeSdk            sdk;
+    TarisCameraSource  cam;
+    std::mutex         m;
+    std::vector<Frame> frames;
+
+    explicit Harness(TarisCameraSource::Options o = fastOptions(), bool net_raw = true)
+        : cam((g = &sdk, o), fakeApi(), [net_raw] { return net_raw; }) {
+        cam.setFrameCallback([this](const Frame& f) {
+            std::lock_guard<std::mutex> l(m);
+            frames.push_back(f);
+        });
+    }
+    ~Harness() { cam.close(); g = nullptr; }
+    bool online() { return waitFor([this] { return cam.offline(0).empty(); }); }
+    // Trigger until a frame comes or the time is up.
+    bool shot(int ms = 2000) { return waitFor([this] { return cam.trigger(); }, ms); }
+};
+
+}  // namespace
+
+TEST_CASE("the thermal camera connects, trying adapters until one answers") {
+    Harness t;
+    t.sdk.accept = "#3";   // the adapter index has moved since the search
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315, 57315);
+    REQUIRE(t.online());
+    std::lock_guard<std::mutex> l(t.sdk.m);
+    REQUIRE(t.sdk.connect_attempts.size() >= 4);
+    CHECK(t.sdk.connect_attempts.front() == "SN:2017744|00:0e:c6:aa:bb:cc|192.168.0.200#0");
+    CHECK(t.sdk.connect_attempts.back().substr(t.sdk.connect_attempts.back().size() - 2) == "#3");
+    CHECK(t.sdk.rate == doctest::Approx(50.f));
+    CHECK(t.sdk.grabbing);
+    CHECK(t.sdk.calib_sets == 0);   // already on the wanted profile
+}
+
+TEST_CASE("a fresh frame is delivered once, as counts with their scale") {
+    Harness t;
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315, 57315);
+    REQUIRE(t.shot());
+    CHECK_FALSE(t.cam.trigger());   // the same frame is not handed out twice
+    REQUIRE(t.frames.size() == 1);
+    const Frame& f = t.frames[0];
+    CHECK(f.layout == PixelLayout::Mono16);
+    CHECK(f.width == 8);
+    CHECK(f.height == 4);
+    REQUIRE(f.data.size() == 64);
+    uint16_t px5 = 0;
+    std::memcpy(&px5, f.data.data() + 10, 2);
+    CHECK(px5 == 57315);
+    REQUIRE(f.thermal);
+    CHECK(f.thermal->cal == 0);
+    CHECK(f.thermal->kelvin_per_count == doctest::Approx(0.01));   // documented, then measured
+    CHECK(f.thermal->missed_packets == 1);
+
+    t.sdk.push(29400);
+    CHECK(t.shot());
+    double v = 0;
+    CHECK(t.cam.readFeature(0, "CalibProfile", v));
+    CHECK(v == 0);
+    CHECK(waitFor([&] { return t.cam.readFeature(0, "HousingTemperature", v); }, 7000));
+    CHECK(v == doctest::Approx(35.0));
+}
+
+TEST_CASE("the zero frames after starting are never delivered") {
+    Harness t;
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(0);
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    CHECK_FALSE(t.cam.trigger());
+    t.sdk.push(29315);
+    CHECK(t.shot());
+}
+
+TEST_CASE("a frame older than max_frame_age_ms is not kept") {
+    auto o = fastOptions();
+    o.max_frame_age_ms = 50;
+    Harness t(o);
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    t.sdk.frozen = true;   // no newer frame arrives
+    std::this_thread::sleep_for(std::chrono::milliseconds(150));
+    CHECK_FALSE(t.cam.trigger());
+}
+
+TEST_CASE("delivery stops while stopped, the camera keeps grabbing") {
+    Harness t;
+    t.cam.open();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    CHECK_FALSE(t.cam.trigger());   // not started
+    t.cam.start();
+    CHECK(t.cam.trigger());
+    t.cam.stop();
+    t.sdk.push(29400);
+    std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    CHECK_FALSE(t.cam.trigger());
+    std::lock_guard<std::mutex> l(t.sdk.m);
+    CHECK(t.sdk.grabbing);
+}
+
+TEST_CASE("the configured calibration profile is set on connect") {
+    auto o = fastOptions();
+    o.calib_profile = 1;
+    Harness t(o);
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(14658);
+    REQUIRE(t.shot());
+    CHECK(t.sdk.calib_sets == 1);
+    REQUIRE(t.frames[0].thermal);
+    CHECK(t.frames[0].thermal->cal == 1);
+    CHECK(t.frames[0].thermal->kelvin_per_count == doctest::Approx(0.02));
+}
+
+TEST_CASE("switching the profile while running changes the scale of later frames") {
+    Harness t;
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    REQUIRE(t.shot());
+    REQUIRE(t.cam.setFeature(0, "CalibProfile", "1"));
+    CHECK_FALSE(t.cam.setFeature(0, "CalibProfile", "7"));   // the camera has two
+    CHECK_FALSE(t.cam.setFeature(0, "CalibProfile", "x"));
+    t.sdk.push(14658);
+    REQUIRE(t.shot());
+    REQUIRE(t.frames.back().thermal);
+    CHECK(t.frames.back().thermal->cal == 1);
+    CHECK(t.frames.back().thermal->kelvin_per_count == doctest::Approx(0.02));
+}
+
+TEST_CASE("a camera not on the network is offline, says why, and is found later") {
+    Harness t;
+    t.sdk.search = {"SN:999|00:00:00:00:00:01|192.168.0.201#0"};
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    CHECK(waitFor([&] { return t.cam.offline(0).find("not found") != std::string::npos; }));
+    CHECK_FALSE(t.cam.trigger());
+    {
+        std::lock_guard<std::mutex> l(t.sdk.m);
+        t.sdk.search = {"SN:2017744|00:0e:c6:aa:bb:cc|192.168.0.200#0"};
+    }
+    CHECK(t.online());
+    CHECK(t.shot());
+}
+
+TEST_CASE("without CAP_NET_RAW the camera stays offline and the SDK is not touched") {
+    Harness t(fastOptions(), false);
+    t.cam.open();
+    CHECK(waitFor([&] { return t.cam.offline(0).find("cap_net_raw") != std::string::npos; }));
+    CHECK(t.sdk.inits == 0);
+    CHECK_FALSE(t.cam.trigger());
+}
+
+TEST_CASE("a camera that goes quiet is reconnected") {
+    auto o     = fastOptions();
+    o.stall_ms = 100;
+    Harness t(o);
+    t.cam.open();
+    t.cam.start();
+    t.sdk.push(29315);
+    REQUIRE(t.online());
+    t.sdk.frozen = true;
+    CHECK(waitFor([&] { return t.cam.deviceInfo()[0].restarts >= 1; }));
+    t.sdk.frozen = false;
+    t.sdk.push(29400);
+    CHECK(t.shot());
+    std::lock_guard<std::mutex> l(t.sdk.m);
+    CHECK(t.sdk.connects >= 2);
+}
+
+TEST_CASE("a missing SDK library leaves the camera offline, not the program down") {
+    auto o    = fastOptions();
+    o.library = "libdoes_not_exist_irbgrab.so";
+    TarisCameraSource cam(o, nullptr, [] { return true; });
+    cam.open();
+    CHECK(waitFor([&] { return cam.offline(0).find("cannot load") != std::string::npos; }));
+    CHECK_FALSE(cam.trigger());
+    cam.close();
+}
+
+TEST_CASE("the documented scales") {
+    CHECK(TarisCameraSource::expectedKelvinPerCount(0) == 0.01);
+    CHECK(TarisCameraSource::expectedKelvinPerCount(1) == 0.02);
+    CHECK(TarisCameraSource::expectedKelvinPerCount(2) == 0.0);
+}

tests/test_testrunner.cpp

@@ -4,6 +4,7 @@
 #include "fgc/HardwareChecks.h"
 
 #include <algorithm>
+#include "fgc/CompositeCameraSource.h"
 #include "fgc/mock/MockCameraSource.h"
 #include "fgc/mock/MockImuSource.h"
 #include "fgc/mock/MockMotorController.h"
@@ -203,6 +204,32 @@ TEST_CASE("a healthy camera passes frames, forced dark and forced bright, and is
     CHECK(st.pct_high < 1.0);
 }
 
+TEST_CASE("with a thermal camera beside it, both deliver frames and only colour is forced") {
+    std::vector<std::unique_ptr<ICameraSource>> v;
+    v.push_back(std::make_unique<MockCameraSource>());
+    v.push_back(std::make_unique<MockCameraSource>(1, 640, 480, PixelLayout::Mono16));
+    CompositeCameraSource cam(std::move(v));
+    MockMotorController motor;
+    motor.start();
+    HardwareTestContext hw;
+    hw.camera = &cam;
+    hw.configured_cameras = {"rgb", "tir"};
+    hw.frame_timeout_ms = {200, 200};
+    TestRunner tr(motor, nullptr, unitGeometry(), T_CAM_ALL, fastProfile(), ".", hw);
+    auto rep = runToCompletion(tr);
+    REQUIRE(rep);
+    // 16-bit counts are two bytes a pixel, and that is a whole frame.
+    CHECK(section(*rep, "cam_frames")->pass);
+    // No exposure to force on a thermal camera: noted, not failed.
+    const TestSection* dark = section(*rep, "cam_dark");
+    REQUIRE(dark);
+    CHECK(dark->pass);
+    CHECK(std::any_of(dark->notes.begin(), dark->notes.end(), [](const std::string& n) {
+        return n.find("tir: not applicable") != std::string::npos;
+    }));
+    CHECK(rep->all_pass);
+}
+
 TEST_CASE("a camera that delivers nothing fails the frames leaf") {
     MockCameraSource cam;
     cam.setFault(MockCameraSource::Fault::NoFrames);

tests/test_thermalguard.cpp

@@ -463,6 +463,9 @@ TEST_CASE("Health payload: unknown readings are null, numbers rounded") {
     CHECK(j.find("\"throttle_events_last_min\":14") != std::string::npos);
     CHECK(j.find("\"interval_s\":10.0") != std::string::npos);
     CHECK(j.find("\"time\":1700000000000") != std::string::npos);
+    CHECK(j.find("\"cams_offline\":\"\"") != std::string::npos);   // all cameras delivering
+    h.cams_offline = "TIR";
+    CHECK(healthJson(h).find("\"cams_offline\":\"TIR\"") != std::string::npos);
     CHECK(j.front() == '{');
     CHECK(j.back() == '}');
 }

tests/test_thermalstats.cpp

@@ -0,0 +1,92 @@
+#include "fgc/ThermalStats.h"
+
+#include <doctest/doctest.h>
+
+#include <vector>
+
+using namespace fgc;
+
+namespace {
+
+// 20.00 degC at the default 0.01 K per count.
+constexpr uint16_t kRoom = 29315;
+
+std::vector<uint16_t> flat(uint32_t w, uint32_t h, uint16_t v) {
+    return std::vector<uint16_t>(static_cast<size_t>(w) * h, v);
+}
+
+}  // namespace
+
+TEST_CASE("counts convert to tenths of a degree Celsius under either profile") {
+    CHECK(countsToDeciC(27315, 0.01) == 0);        // 273.15 K
+    CHECK(countsToDeciC(kRoom, 0.01) == 200);      // 20.0 degC
+    CHECK(countsToDeciC(23315, 0.01) == -400);     // -40.0 degC, sky
+    CHECK(countsToDeciC(57315, 0.01) == 3000);     // 300.0 degC
+    // Profile 1 doubles the step: the same temperature is half the count.
+    CHECK(countsToDeciC(14658, 0.02) == 200);      // 293.16 K -> 20.01 rounds to 20.0
+    CHECK(countsToDeciC(28658, 0.02) == 3000);     // 573.16 K
+    // Rounded to nearest, not truncated: 20.06 degC.
+    CHECK(countsToDeciC(29321, 0.01) == 201);
+    CHECK(countsToDeciC(29319, 0.01) == 200);      // 20.04 degC
+}
+
+TEST_CASE("maximum, median and hot spot of a scene") {
+    const uint32_t w = 8, h = 4;
+    auto           px = flat(w, h, kRoom);
+    px[2 * w + 5] = 57315;                         // 300 degC at (5, 2)
+    ThermalFrameInfo info;
+    const auto s = thermalStats(px.data(), w, h, info);
+    REQUIRE(s.valid);
+    CHECK(s.valid_pixels == w * h);
+    CHECK(s.max_count == 57315);
+    CHECK(s.tmax_decic == 3000);
+    CHECK(s.median_count == kRoom);                // one outlier does not move the median
+    CHECK(s.tmed_decic == 200);
+    CHECK(s.hotx == doctest::Approx(5.5 / 8));     // pixel centre, normalised
+    CHECK(s.hoty == doctest::Approx(2.5 / 4));
+}
+
+TEST_CASE("the median is the lower middle value") {
+    const std::vector<uint16_t> px = {30000, 29000, 31000, 28000};   // sorted 28 29 30 31
+    const auto s = thermalStats(px.data(), 4, 1, ThermalFrameInfo{});
+    CHECK(s.median_count == 29000);
+}
+
+TEST_CASE("the first occurrence of the maximum is the hot spot") {
+    auto px = flat(4, 4, kRoom);
+    px[1 * 4 + 1] = 40000;
+    px[3 * 4 + 3] = 40000;
+    const auto s = thermalStats(px.data(), 4, 4, ThermalFrameInfo{});
+    CHECK(s.hotx == doctest::Approx(1.5 / 4));
+    CHECK(s.hoty == doctest::Approx(1.5 / 4));
+}
+
+TEST_CASE("zero and wrapped counts take no part") {
+    auto px = flat(4, 2, kRoom);
+    px[0] = 0;                       // the camera's start-up frames are zeros
+    px[1] = 65535;                   // past the LUT's wrap: not a temperature
+    px[2] = 65281;
+    ThermalFrameInfo info;
+    const auto s = thermalStats(px.data(), 4, 2, info);
+    REQUIRE(s.valid);
+    CHECK(s.valid_pixels == 5);
+    CHECK(s.max_count == kRoom);
+    // At the limit itself the count still counts.
+    px[3] = info.valid_count_max;
+    CHECK(thermalStats(px.data(), 4, 2, info).max_count == info.valid_count_max);
+}
+
+TEST_CASE("a frame with no valid pixel has no statistics") {
+    const auto zeros = flat(4, 4, 0);
+    CHECK_FALSE(thermalStats(zeros.data(), 4, 4, ThermalFrameInfo{}).valid);
+    CHECK_FALSE(thermalStats(nullptr, 4, 4, ThermalFrameInfo{}).valid);
+    CHECK_FALSE(thermalStats(zeros.data(), 0, 4, ThermalFrameInfo{}).valid);
+}
+
+TEST_CASE("the scale comes from the frame's profile") {
+    const auto px = flat(2, 2, 14658);             // 20 degC under profile 1
+    ThermalFrameInfo info;
+    info.cal              = 1;
+    info.kelvin_per_count = 0.02;
+    CHECK(thermalStats(px.data(), 2, 2, info).tmed_decic == 200);
+}