[gareth-morgan-nv]

Summary

The camera-side half of the timing work: the Sensing producer (camera_plugin_sensing) answers the PC's clock exchange and stamps each frame with a documented time, so the PC can place camera video on its own clock. The egocap side (recorder, page, emulator) is in the PR stacked on this one.

• Clock exchange. Answers the PC's four-timestamp clock-sync requests over LiveKit data messages with the sender's monotonic clock; the wire format is tested against golden bytes.
• Frame timestamps. --timestamp-basis selects monotonic_us (default; the frame-ready time), capture_monotonic_us (the sensor capture event on CLOCK_MONOTONIC, converted from the SIPL counter or the Argus sensor timestamp through a 1 Hz anchor; the stream fails on an implausible value) or processing_unix_us. The encoder unit's own stamp is published, and pacing follows the frame's stamped clock, not the poll time.
• SENSING_ENCODER_TIMESTAMP_PROBE=1 logs the stamps the encoder returns.

Limits

• Frame-ready time is later than the sensor's capture event; neither basis proves physical alignment between camera, glove and controllers.
• The encoder returns no submitted timestamp, so units are paired with captures by submission order; this can shift after an encoder-internal drop, so per-frame times are not hardware-qualified.

Validation

• src/plugins/sensing/tests gained clock-sync wire-format and sensor-clock tests; they were not built or run for this split.
• Not run: the native sender and the Argus/SIPL paths were not built against the SDKs, nothing ran on an Orin, and the sensor-counter conversion (capture_monotonic_us) is unverified on hardware.

Stacked on #1429 (Argus), which stacks on #1428 (RearchBackend) and #1461 (the Orin publisher). The egocap half is #1459.

🤖 Generated with Claude Code

[coderabbitai]

Important

Review skipped

Auto reviews are disabled on base/target branches other than the default branch.

Please check the settings in the CodeRabbit UI or the .coderabbit.yaml file in this repository. To trigger a single review, invoke the @coderabbitai review command.

Run configuration

• Source mode: Auto
• Repository: NVIDIA/IsaacCapture
• Branch: gmorgan/Argus
• File: .coderabbit.yaml
• Commit: 6502215
• Layers: Repository YAML
• Review profile: CHILL
• Plan: Enterprise
• Run ID: e82084cf-7e02-4b78-b1eb-b77f82e9fb30

You can disable this status message by setting the reviews.review_status to false in the CodeRabbit configuration file.

Use the checkbox below for a quick retry:

• Trigger review

• Autofix · Keep fixing CodeRabbit findings and required CI, and resolving merge conflicts

[gareth-morgan-nv]

Closing as superseded: the camera path is now the camera_streamer architecture (SIPL/Argus sender, AVS1 over TCP, PC receiver and LiveKit bridge; see #1473-#1479). Not merged; the branch and commits are kept.

🤖 Generated with Claude Code

[gareth-morgan-nv]

This PR is superseded by the camera_streamer PRs:

• camera_streamer: add SIPL camera support to the sender #1473 camera_streamer: add SIPL camera support to the sender
• camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record #1474 camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record
• camera_streamer: add a UDP clock exchange responder to the sender #1475 camera_streamer: add a UDP clock exchange responder to the sender
• examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture #1476 examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture
• camera_streamer: add cross_build.sh and deploy_sender.py development tools #1477 camera_streamer: add cross_build.sh and deploy_sender.py development tools
• examples/camera_livekit_bridge: publish receiver frames to LiveKit #1478 examples/camera_livekit_bridge: publish receiver frames to LiveKit
• examples/camera_streamer: carry a qualified sensor capture time to LiveKit #1479 examples/camera_streamer: carry a qualified sensor capture time to LiveKit

🤖 Generated with Claude Code