[gareth-morgan-nv]

Summary

The PC relay: video_stage_worker receives the Orin's AVS1 access units over the direct link and hands them, untouched, to LiveKit or an Annex-B file. It builds without CUDA.

• Relay: one --stream=PORT:TRACK per camera, one LiveKit participant for all tracks, and a control link for keyframe requests and the clock exchange. The relay maps the Orin's frame stamps onto its own clock; video is never withheld because of timing, but frames go without a capture time while the mapping is missing or too uncertain. An overloaded relay discards queued records and resumes at the next keyframe.
• LiveKit wrapper moves from the camera plugin to src/livekit_publisher with the SDK fetch (including the Ubuntu 22.04 selection), so the relay and the plugin share it. The plugin still links it in this PR. EncodedVideoFrame and the clock-exchange helpers move into video_stage/wire.
• Mock Orin sender (tests/tools/mock_orin_sender.py) runs the relay with no Orin: video_stage_worker --stream=5600:file=out.h264 --once plus the mock on port 5600.

Validation

• Built with BUILD_VIDEO_STAGE=ON. video_stage_tcp_receiver_tests (4 cases), video_stage_sender_tests (17) and video_stage_wire_tests (51) pass, run directly; the mock-sender Python tests (19) pass.
• Not run: publishing to a LiveKit server from this build in the final revision, and anything on an Orin.

Stacked on the transport PR.

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[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Closing as superseded: the camera path is now the camera_streamer architecture (SIPL/Argus sender, AVS1 over TCP, PC receiver and LiveKit bridge; see #1473-#1479).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.

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[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This PR is superseded by the camera_streamer PRs: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

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