[{"id":34822,"web_url":"https://patchwork.libcamera.org/comment/34822/","msgid":"","date":"2025-07-08T09:08:22","subject":"Re: [PATCH v1 2/2] libcamera: controls: Use nanoseconds units for\n\tFrameWallClock","submitter":{"id":42,"url":"https://patchwork.libcamera.org/api/people/42/","name":"David Plowman","email":"david.plowman@raspberrypi.com"},"content":"Hi Naush\n\nThanks for the patch.\n\nOn Tue, 8 Jul 2025 at 09:52, Naushir Patuck wrote:\n>\n> Use nanoseconds for the FrameWallClock control to match the units for\n> other timestamp controls, including SensorTimestamp.\n>\n> Update the RPi pipeline handlers to match the new nanoseconds units when\n> converting from SensorTimestamp to FrameWallClock.\n>\n> Signed-off-by: Naushir Patuck \n> ---\n> src/libcamera/control_ids_core.yaml | 3 ++-\n> src/libcamera/pipeline/rpi/pisp/pisp.cpp | 2 +-\n> src/libcamera/pipeline/rpi/vc4/vc4.cpp | 2 +-\n> 3 files changed, 4 insertions(+), 3 deletions(-)\n>\n> diff --git a/src/libcamera/control_ids_core.yaml b/src/libcamera/control_ids_core.yaml\n> index 566e1533702f..eec4b4f937ee 100644\n> --- a/src/libcamera/control_ids_core.yaml\n> +++ b/src/libcamera/control_ids_core.yaml\n> @@ -1274,7 +1274,8 @@ controls:\n> description: |\n> This timestamp corresponds to the same moment in time as the\n> SensorTimestamp, but is represented as a wall clock time as measured by\n> - the CLOCK_REALTIME clock.\n> + the CLOCK_REALTIME clock. Like SensorTimestamp, the timestamp value is\n> + expressed in nanoseconds.\n>\n> Being a wall clock measurement, it can be used to synchronise timing\n> across different devices.\n> diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> index 2df91bacf3be..92b9070c1bc2 100644\n> --- a/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> @@ -1760,7 +1760,7 @@ void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer)\n> */\n> wallClockRecovery_.addSample();\n> uint64_t sensorTimestamp = buffer->metadata().timestamp;\n> - uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000);\n> + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp);\n>\n> ctrl.set(controls::SensorTimestamp, sensorTimestamp);\n> ctrl.set(controls::FrameWallClock, wallClockTimestamp);\n> diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> index e99a7edf809c..5cadef52712f 100644\n> --- a/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> @@ -778,7 +778,7 @@ void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer)\n> */\n> wallClockRecovery_.addSample();\n> uint64_t sensorTimestamp = buffer->metadata().timestamp;\n> - uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000);\n> + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp);\n\nYes, looks good to me.\n\nReviewed-by: David Plowman \n\nThanks!\nDavid\n\n>\n> ctrl.set(controls::SensorTimestamp, sensorTimestamp);\n> ctrl.set(controls::FrameWallClock, wallClockTimestamp);\n> --\n> 2.43.0\n>","headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id 56C87C0DA4\n\tfor ;\n\tTue, 8 Jul 2025 09:08:36 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id F251968EDC;\n\tTue, 8 Jul 2025 11:08:35 +0200 (CEST)","from mail-qt1-x830.google.com (mail-qt1-x830.google.com\n\t[IPv6:2607:f8b0:4864:20::830])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 4E20168E3A\n\tfor ;\n\tTue, 8 Jul 2025 11:08:34 +0200 (CEST)","by mail-qt1-x830.google.com with SMTP id\n\td75a77b69052e-4a43972dcd7so50584571cf.3\n\tfor ;\n\tTue, 08 Jul 2025 02:08:34 -0700 (PDT)"],"Authentication-Results":"lancelot.ideasonboard.com; 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charset=\"UTF-8\"","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "}},{"id":34823,"web_url":"https://patchwork.libcamera.org/comment/34823/","msgid":"<175196745321.2340557.10286788567096866856@ping.linuxembedded.co.uk>","date":"2025-07-08T09:37:33","subject":"Re: [PATCH v1 2/2] libcamera: controls: Use nanoseconds units for\n\tFrameWallClock","submitter":{"id":4,"url":"https://patchwork.libcamera.org/api/people/4/","name":"Kieran Bingham","email":"kieran.bingham@ideasonboard.com"},"content":"Quoting Naushir Patuck (2025-07-08 09:49:15)\n> Use nanoseconds for the FrameWallClock control to match the units for\n> other timestamp controls, including SensorTimestamp.\n> \n> Update the RPi pipeline handlers to match the new nanoseconds units when\n> converting from SensorTimestamp to FrameWallClock.\n\nThanks, I think this removes the ambiguity/inconsistency.\n\nI noted that the ROS discussion was also worried that FrameWallClock is\nonly applicable on Raspberry Pi at the moment - I know we went round in\ncircles on that before too - I might try to see how we can make it\neasily work for all pipelines (they only noticed the lack of\nFrameWallClock in UVC ... but anyway - that's not related/blocking this\npatch)\n\nReviewed-by: Kieran Bingham \n\n> Signed-off-by: Naushir Patuck \n> ---\n> src/libcamera/control_ids_core.yaml | 3 ++-\n> src/libcamera/pipeline/rpi/pisp/pisp.cpp | 2 +-\n> src/libcamera/pipeline/rpi/vc4/vc4.cpp | 2 +-\n> 3 files changed, 4 insertions(+), 3 deletions(-)\n> \n> diff --git a/src/libcamera/control_ids_core.yaml b/src/libcamera/control_ids_core.yaml\n> index 566e1533702f..eec4b4f937ee 100644\n> --- a/src/libcamera/control_ids_core.yaml\n> +++ b/src/libcamera/control_ids_core.yaml\n> @@ -1274,7 +1274,8 @@ controls:\n> description: |\n> This timestamp corresponds to the same moment in time as the\n> SensorTimestamp, but is represented as a wall clock time as measured by\n> - the CLOCK_REALTIME clock.\n> + the CLOCK_REALTIME clock. Like SensorTimestamp, the timestamp value is\n> + expressed in nanoseconds.\n> \n> Being a wall clock measurement, it can be used to synchronise timing\n> across different devices.\n> diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> index 2df91bacf3be..92b9070c1bc2 100644\n> --- a/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp\n> @@ -1760,7 +1760,7 @@ void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer)\n> */\n> wallClockRecovery_.addSample();\n> uint64_t sensorTimestamp = buffer->metadata().timestamp;\n> - uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000);\n> + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp);\n> \n> ctrl.set(controls::SensorTimestamp, sensorTimestamp);\n> ctrl.set(controls::FrameWallClock, wallClockTimestamp);\n> diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> index e99a7edf809c..5cadef52712f 100644\n> --- a/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp\n> @@ -778,7 +778,7 @@ void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer)\n> */\n> wallClockRecovery_.addSample();\n> uint64_t sensorTimestamp = buffer->metadata().timestamp;\n> - uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp / 1000);\n> + uint64_t wallClockTimestamp = wallClockRecovery_.getOutput(sensorTimestamp);\n> \n> ctrl.set(controls::SensorTimestamp, sensorTimestamp);\n> ctrl.set(controls::FrameWallClock, wallClockTimestamp);\n> -- \n> 2.43.0\n>","headers":{"Return-Path":"","X-Original-To":"parsemail@patchwork.libcamera.org","Delivered-To":"parsemail@patchwork.libcamera.org","Received":["from lancelot.ideasonboard.com (lancelot.ideasonboard.com\n\t[92.243.16.209])\n\tby patchwork.libcamera.org (Postfix) with ESMTPS id 7E77BC0DA4\n\tfor ;\n\tTue, 8 Jul 2025 09:37:39 +0000 (UTC)","from lancelot.ideasonboard.com (localhost [IPv6:::1])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTP id 747A568EE3;\n\tTue, 8 Jul 2025 11:37:38 +0200 (CEST)","from perceval.ideasonboard.com (perceval.ideasonboard.com\n\t[213.167.242.64])\n\tby lancelot.ideasonboard.com (Postfix) with ESMTPS id 5112E68EDB\n\tfor ;\n\tTue, 8 Jul 2025 11:37:36 +0200 (CEST)","from pendragon.ideasonboard.com\n\t(cpc89244-aztw30-2-0-cust6594.18-1.cable.virginm.net [86.31.185.195])\n\tby perceval.ideasonboard.com (Postfix) with ESMTPSA id D60A43DC;\n\tTue, 8 Jul 2025 11:37:08 +0200 (CEST)"],"Authentication-Results":"lancelot.ideasonboard.com; dkim=pass (1024-bit key;\n\tunprotected) header.d=ideasonboard.com header.i=@ideasonboard.com\n\theader.b=\"b9Z2Cq3e\"; dkim-atps=neutral","DKIM-Signature":"v=1; a=rsa-sha256; c=relaxed/simple; d=ideasonboard.com;\n\ts=mail; t=1751967428;\n\tbh=3Al0ki/zJRWguiWOtYvarYwn5TzOrEgY7hRmiZzqgwA=;\n\th=In-Reply-To:References:Subject:From:Cc:To:Date:From;\n\tb=b9Z2Cq3eA0Dbn59fFPTlOmgTrBOZRsntgw7kwvLre2HIs4aC7Hm0lKVbyAeOAtj3b\n\tzhGK+nClUm0Kj8icLXfKw6YnOWjSb/C9wNtILbZN8EC6I/PBXD1/cSuXnknJX+/xZg\n\tTL/vpcWhjr/IBAZI4AAnOxJB9mZJh70HU0IuF4Wk=","Content-Type":"text/plain; charset=\"utf-8\"","MIME-Version":"1.0","Content-Transfer-Encoding":"quoted-printable","In-Reply-To":"<20250708085147.752248-3-naush@raspberrypi.com>","References":"<20250708085147.752248-1-naush@raspberrypi.com>\n\t<20250708085147.752248-3-naush@raspberrypi.com>","Subject":"Re: [PATCH v1 2/2] libcamera: controls: Use nanoseconds units for\n\tFrameWallClock","From":"Kieran Bingham ","Cc":"Naushir Patuck ","To":"Naushir Patuck ,\n\tlibcamera-devel@lists.libcamera.org","Date":"Tue, 08 Jul 2025 10:37:33 +0100","Message-ID":"<175196745321.2340557.10286788567096866856@ping.linuxembedded.co.uk>","User-Agent":"alot/0.9.1","X-BeenThere":"libcamera-devel@lists.libcamera.org","X-Mailman-Version":"2.1.29","Precedence":"list","List-Id":"","List-Unsubscribe":",\n\t","List-Archive":"","List-Post":"","List-Help":"","List-Subscribe":",\n\t","Errors-To":"libcamera-devel-bounces@lists.libcamera.org","Sender":"\"libcamera-devel\" "}}]