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[cscore] Use frame time in Linux UsbCameraImpl (#7609)

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This commit is contained in:
Matt
2025-01-07 09:33:20 -07:00
committed by GitHub
parent 8e459a4f2a
commit 2de03c9601
13 changed files with 267 additions and 29 deletions
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45
cscore/src/main/native/linux/UsbCameraImpl.cpp
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@@ -555,8 +555,51 @@ void UsbCameraImpl::CameraThreadMain() {
good = false;
}
if (good) {
Frame::Time frameTime{wpi::Now()};
WPI_TimestampSource timeSource{WPI_TIMESRC_FRAME_DEQUEUE};
// check the timestamp time
auto tsFlags = buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK;
SDEBUG4("Flags {}", tsFlags);
if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN) {
SDEBUG4("Got unknown time for frame - default to wpi::Now");
} else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC) {
SDEBUG4("Got valid monotonic time for frame");
// we can't go directly to frametime, since the rest of cscore
// expects us to use wpi::Now, which is in an arbitrary timebase
// (see timestamp.cpp). Best I can do is (approximately) translate
// between timebases
// grab current time in the same timebase as buf.timestamp
struct timespec ts;
if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
int64_t nowTime = {ts.tv_sec * 1'000'000 + ts.tv_nsec / 1000};
int64_t bufTime = {buf.timestamp.tv_sec * 1'000'000 +
buf.timestamp.tv_usec};
// And offset frameTime by the latency
int64_t offset{nowTime - bufTime};
frameTime -= offset;
// Figure out the timestamp's source
int tsrcFlags = buf.flags & V4L2_BUF_FLAG_TSTAMP_SRC_MASK;
if (tsrcFlags == V4L2_BUF_FLAG_TSTAMP_SRC_EOF) {
timeSource = WPI_TIMESRC_V4L_EOF;
} else if (tsrcFlags == V4L2_BUF_FLAG_TSTAMP_SRC_SOE) {
timeSource = WPI_TIMESRC_V4L_SOE;
} else {
timeSource = WPI_TIMESRC_UNKNOWN;
}
SDEBUG4("Frame was {} uS old, flags {}, source {}", offset,
tsrcFlags, static_cast<int>(timeSource));
} else {
// Can't do anything if we can't access the clock, leave default
}
} else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_COPY) {
SDEBUG4("Got valid copy time for frame - default to wpi::Now");
}
PutFrame(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat),
width, height, image, wpi::Now()); // TODO: time
width, height, image, frameTime, timeSource);
}
}