config/config.example.ini

@@ -100,8 +100,7 @@ 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. Each file and CamEvent has the time its own frame arrived; the
+; colour camera, and both carry the same timestamp: RGB/<t>.jxl and TIR/<t>.jxl.
-; two of one waypoint share hdg/pit and are at most max_frame_age_ms apart.
 ; 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]

docs/architecture.md

@@ -140,9 +140,8 @@ With a thermal camera the scheduler and the pipeline still see one
 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. Each frame keeps the time it
+`max_frame_age_ms` and otherwise says no at once. Every frame of one trigger
-reached the host, so the two of one waypoint differ by up to that age. The
+takes the colour frame's timestamp. The colour camera failing stops the run as
-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

docs/configuration.md

@@ -1065,9 +1065,9 @@ firmware `ST` lines (per-axis state + encoder counts), parsed by
 
 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. Each file and CamEvent has the
+is the thermal one asked for its newest frame. Both frames carry the colour
-time its own frame arrived: the two of one waypoint share `hdg`/`pit` and are at
+frame's timestamp, so `RGB/<t>.jxl` and `TIR/<t>.jxl` are a pair (and so are
-most `max_frame_age_ms` apart (see [mqtt-api.md](mqtt-api.md#thermal-camera-cam-tir)).
+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

docs/known-issues.md

@@ -173,10 +173,9 @@ scripts for this are worth keeping; note that wrapping them in `timeout` SIGTERM
   were the camera's own NUC every 30 s (a 0.7 s pause in its stream); since 2026-10-15 the program runs the
   NUC at the start of a move instead. A NIR unit would be a third driver
   behind the same key.
-- The InfraTec SDK keeps the CPU awake: about 15 of its threads sleep 1 ms at a time, some 15 000 wake-ups
+- The InfraTec SDK costs about a quarter of one core on the 3 Delta even between pictures: three threads
-  a second, so the cores never settle and the CPU clocks them at turbo (2.8 GHz on the N5105) whenever they
+  it starts in `dll_init` and one per connection poll the raw socket in `nanosleep` loops (measured on
-  run. Until 2026-10-15 the camera also sent 50 fps (31 MB/s) because the frame rate was not taken; at the
+  tower 111, 2026-10-14). The frame rate does not change it. In the first minutes after deploying, the
-  intended 5 fps the system load fell from about 29 % to 18 %, but the wake-ups remain. 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'

docs/mqtt-api.md

@@ -153,12 +153,9 @@ their payload is unchanged.
 | `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 |
 
-- **Its own `time`.** The thermal camera is asked right after the colour one, at
+- **Same `time` as the colour picture.** The thermal camera is asked right after
-  the same waypoint, and hands over the newest frame it has. `time` (and the file
+  the colour one, at the same waypoint, and its event and file take the colour
-  name) is when that frame reached the tower computer, so it is up to
+  frame's timestamp: `RGB/<time>.jxl` and `TIR/<time>.jxl` are one pair. A
-  `max_frame_age_ms` (400) off the colour picture's, earlier or later. The `RGB`
-  and `TIR` event of one waypoint share `hdg` and `pit` (sampled together) and
-  follow each other in the stream; pair them by that, not by an equal `time`. 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

docs/tower-installation.md

@@ -950,14 +950,8 @@ Measured on tower 111 (2026-10-14, SDK 4.3.44, SN 2017744):
 - A profile switch takes about 3 s; frames keep the old scale until
   `Calib_ChangeInProgress` reaches 0, and the program takes none meanwhile.
 - The camera's frame counter (`ImageNum`) is always 0; `MissedPackets` was
-  always 0 on the direct link.
+  always 0 on the direct link. It delivers about 50 fps whatever `Framerate_Hz`
-- Frame rate (2026-10-15): from power-up the camera sends 50 fps, 31 MB/s and
+  says; the program polls it at 10 Hz.
-  22 000 packets a second. `Framerate_Hz` set right after connecting answers ok
-  and changes nothing; set while grabbing it only thins out what the SDK hands
-  over; set while the grab is stopped, after the stream has run, it holds on the
-  wire. The program does that once the first frame is in and checks the packet
-  rate of `[Camera.tir] interface` (5 Hz: about 2 200 packets a second); the log
-  says `5.3 fps on enp1s0 (2224 packets/s), set on attempt 2`.
 - NUC (2026-10-15): the camera runs one every 30 s (`NUC_Interval`) and sends no
   frame for 650-760 ms meanwhile. `NUC_Interval = 0` stops that; `NUC_Perform`
   (1-point) runs one and returns when it is done, after about 0.67 s.

include/fgc/CompositeCameraSource.h

@@ -19,9 +19,8 @@ namespace fgc {
 // 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 keeps its own time, when it reached the host: the thermal frame
+// Every frame of one trigger carries the leader's timestamp, so the pair is
-// is the newest the camera had, so its time is up to max_frame_age_ms off the
+// RGB/<t>.jxl and TIR/<t>.jxl with the same <t> in both CamEvents.
-// colour one, and that is what the file name and the CamEvent say.
 //
 // A follower that is briefly without a fresh frame (frameReady() false: the
 // thermal camera's NUC) holds the picture back for up to `follower_wait_ms`,
@@ -72,6 +71,8 @@ private:
     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
     int              follower_wait_ms_;
     long long        waiting_since_ = 0;   // steady ms a picture began waiting for a follower
 };

src/camera/CompositeCameraSource.cpp

@@ -76,9 +76,12 @@ bool CompositeCameraSource::trigger() {
                   << " ms; taking the picture without it";
     }
     waiting_since_ = 0;
+    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;
 }
 
@@ -97,6 +100,7 @@ void CompositeCameraSource::setFrameCallback(FrameCallback 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) {
@@ -105,6 +109,7 @@ void CompositeCameraSource::setFrameCallback(FrameCallback cb) {
             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);
         });
     }

src/camera/TarisCameraSource.cpp

@@ -138,14 +138,6 @@ struct TarisCameraSource::Impl {
     double      last_cam_ts       = -1.0;  // its MemInfo time, ms
     long long   polls_since_frame = 0;
     std::map<Ret, int> codes_since_frame;  // getdata answers other than a new frame
-    // The frame rate (see setFrameRate()): set by restarting the grab once the
-    // first frame is in, then checked on the wire.
-    int         rate_attempts     = 0;
-    bool        rate_pending      = false; // restart the grab with it at the next frame
-    long long   wire_check_ms     = 0;     // steady: when to count packets; 0 = none
-    long long   wire_packets0     = -1;
-    long long   wire_start_ms     = 0;
-    size_t      frame_bytes       = 0;
     // NUC run by the program (Options::nuc_interval_ms).
     int         nuc_interval_found = -1;   // the camera's own timer, put back on close
     bool        nuc_ours          = false; // the camera's timer is off and we run it
@@ -416,6 +408,12 @@ struct TarisCameraSource::Impl {
             }
         }
 
+        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);
@@ -426,10 +424,6 @@ struct TarisCameraSource::Impl {
         }
         setInt32(param::kPollingEnable, 1);
 
-        rate_attempts = 0;
-        rate_pending  = true;
-        wire_check_ms = 0;
-
         std::string model;
         getString(param::kCameraName, model);
         {
@@ -488,7 +482,6 @@ struct TarisCameraSource::Impl {
             return;
         const size_t need = static_cast<size_t>(w) * h * 2;
         if (bytes < 0 || static_cast<size_t>(bytes) < need) return;
-        frame_bytes = need;
 
         // 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
@@ -587,84 +580,6 @@ struct TarisCameraSource::Impl {
         }
     }
 
-    // ---- frame rate ----------------------------------------------------------
-    // The camera sends 50 fps from power-up: 31 MB/s and 22 000 packets a second
-    // for the SDK and the CPU to take in, for one picture every few seconds. Set
-    // right after connecting, Framerate_Hz answers ok and changes nothing; set
-    // while grabbing, it thins out what the SDK hands over but the camera keeps
-    // sending. Set while the grab is stopped, after the stream has run, it holds
-    // on the wire (tower 111: 5 Hz, 2 100 packets a second). So that is what is
-    // done once the first frame is in, and checked on the port's packet count.
-    void setFrameRate() {
-        float rate = static_cast<float>(o.frame_rate_hz);
-        const Ret r = api->dev_setparam(dev, param::kFramerateHz, &rate, kTypeSingle);
-        ++rate_attempts;
-        if (!ok(r))
-            LOG_WARN << "thermal camera: cannot set " << o.frame_rate_hz << " Hz: " << describe(r)
-                     << "; it runs at its own rate";
-    }
-
-    static long long rxPackets(const std::string& interface) {
-        if (interface.empty()) return -1;
-        std::ifstream f("/sys/class/net/" + interface + "/statistics/rx_packets");
-        long long v = -1;
-        f >> v;
-        return f ? v : -1;
-    }
-
-    void restartForRate() {
-        rate_pending = false;
-        api->dev_stopgrab(dev, 0);
-        setFrameRate();
-        setInt32(param::kPollingEnable, 1);
-        const Ret r = api->dev_startgrab(dev, 0);
-        setInt32(param::kPollingEnable, 1);
-        last_frame_steady = steadyMs();   // grace for the restart
-        if (!ok(r)) {
-            setOffline("cannot restart grabbing: " + describe(r));
-            disconnect();
-            return;
-        }
-        wire_check_ms = steadyMs() + 1000;   // count packets once the stream is up again
-        wire_packets0 = -1;
-    }
-
-    // Packets per second on the camera's port against what the rate should send.
-    void checkWire() {
-        if (wire_check_ms == 0 || steadyMs() < wire_check_ms) return;
-        if (o.interface.empty()) {
-            wire_check_ms = 0;
-            LOG_INFO << "thermal camera: " << o.frame_rate_hz
-                     << " fps set; not checked on the wire (no [Camera.tir] interface)";
-            return;
-        }
-        const long long now = steadyMs(), pk = rxPackets(o.interface);
-        if (pk < 0) { wire_check_ms = 0; return; }
-        if (wire_packets0 < 0) {            // start counting
-            wire_packets0 = pk;
-            wire_start_ms = now;
-            wire_check_ms = now + 3000;
-            return;
-        }
-        wire_check_ms = 0;
-        const double pps      = (pk - wire_packets0) * 1000.0 / std::max<long long>(1, now - wire_start_ms);
-        const double per_fr   = frame_bytes > 0 ? frame_bytes / 1464.0 : 420.0;   // GVSP payload
-        const double fps_wire = pps / per_fr;
-        if (fps_wire <= o.frame_rate_hz * 1.5) {
-            LOG_INFO << "thermal camera: " << std::lround(fps_wire * 10) / 10.0 << " fps on "
-                     << o.interface << " (" << std::lround(pps) << " packets/s), set on attempt "
-                     << rate_attempts;
-        } else if (rate_attempts >= 3) {
-            LOG_WARN << "thermal camera: still " << std::lround(fps_wire) << " fps on " << o.interface
-                     << " (" << std::lround(pps) << " packets/s), not " << o.frame_rate_hz
-                     << "; frame rate not taken";
-        } else {
-            LOG_INFO << "thermal camera: " << std::lround(fps_wire) << " fps on " << o.interface
-                     << ", not " << o.frame_rate_hz << "; restarting the grab again";
-            rate_pending = true;
-        }
-    }
-
     // ---- NUC ---------------------------------------------------------------
     // Switch the camera's own NUC timer off: from now on the program runs the
     // NUC, while the gimbal moves. The timer's value goes back on close. (Read
@@ -868,9 +783,6 @@ struct TarisCameraSource::Impl {
             if (!connected) continue;
             serviceNuc();
             poll();
-            if (rate_pending && last_cam_ts >= 0.0) restartForRate();   // once a frame is in
-            if (!connected) continue;
-            checkWire();
 
             const long long now = steadyMs();
             if (now - last_frame_steady > o.stall_ms) {

tests/test_composite.cpp

@@ -100,12 +100,12 @@ TEST_CASE("the composite numbers the cameras leader first, and counts them all")
     CHECK(r.frames[2].cam_id == 2);   // the thermal camera
 }
 
-TEST_CASE("every frame keeps the time it arrived, the follower's too") {
+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 == 5000);   // its own, not the leader's
+    CHECK(r.frames[1].timestamp_ms == 1000);   // not its own 5000
 }
 
 TEST_CASE("the followers are asked only once the leader has delivered") {

tests/test_tariscamerasource.cpp

@@ -233,8 +233,6 @@ TEST_CASE("the thermal camera connects, trying adapters until one answers") {
     t.cam.start();
     t.sdk.push(29315, 57315);
     REQUIRE(t.online());
-    // The rate is set by restarting the grab once the first frame is in.
-    CHECK(waitFor([&] { std::lock_guard<std::mutex> l(t.sdk.m); return t.sdk.rate > 49.f; }));
     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");