Add hardware timestamp reporting

dlclivegui/cameras/backends/aravis_backend.py

@@ -11,7 +11,7 @@
 import numpy as np
 
 from ...config import CameraSettings
-from ..base import CameraBackend, SupportLevel, register_backend
+from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend
 from ..factory import DetectedCamera
 
 LOG = logging.getLogger(__name__)
@@ -372,7 +372,7 @@ def open(self) -> None:
 
         self._camera.start_acquisition()
 
-    def read(self) -> tuple[np.ndarray, float]:
+    def read(self) -> CapturedFrame:
         """Read a frame from the camera."""
         if self._camera is None or self._stream is None:
             raise RuntimeError("Aravis camera not initialized")
@@ -430,7 +430,7 @@ def read(self) -> tuple[np.ndarray, float]:
             # Always push buffer back to stream
             self._stream.push_buffer(buffer)
 
-        return frame, timestamp
+        return CapturedFrame(frame=frame, software_timestamp=timestamp, timestamp_metadata=None)
 
     def stop(self) -> None:
         """Stop camera acquisition."""

dlclivegui/cameras/backends/basler_backend.py

@@ -7,11 +7,10 @@
 import time
 from typing import ClassVar
 
-import numpy as np
-
 from ...config import BASLER_DO_LOG_TIMING, DEBUG_TRIGGER_LOGS, CameraTriggerSettings
 from ...utils.stats import WorkerTimingStats
-from ..base import CameraBackend, SupportLevel, register_backend
+from ...utils.timestamps import FrameTimestampMetadata
+from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend
 
 LOG = logging.getLogger(__name__)
 
@@ -57,6 +56,8 @@ def __init__(self, settings):
         # (may skip StartGrabbing and converter setup for faster capability probing; not suitable for normal capture)
         self._fast_start: bool = bool(self.ns.get("fast_start", False))
         self._retrieve_timeout_ms: int = 100  # default; may be overridden by trigger settings
+        self._timestamp_tick_frequency_hz: float | None = None
+        self._timestamp_tick_frequency_source: str | None = None
 
         # ---- Trigger settings ----
         raw_trigger = self.ns.get("trigger", self._props.get("trigger"))
@@ -179,6 +180,7 @@ def static_capabilities(cls) -> dict[str, SupportLevel]:
                 "stable_identity": SupportLevel.SUPPORTED,
                 "hardware_trigger": SupportLevel.BEST_EFFORT,
                 "preserve_mono": SupportLevel.SUPPORTED,
+                "hardware_frame_timestamps": SupportLevel.BEST_EFFORT,
             }
         )
         return caps
@@ -482,6 +484,7 @@ def _configure_frame_rate(self) -> None:
             "BslResultingAcquisitionFrameRate",
             "ExposureAuto",
             "ExposureTime",
+            "ExposureTimeAbs",
             "Width",
             "Height",
             "PixelFormat",
@@ -551,7 +554,10 @@ def open(self) -> None:
             try:
                 if hasattr(self._camera, "ExposureAuto"):
                     self._camera.ExposureAuto.SetValue("Off")
-                self._camera.ExposureTime.SetValue(float(self.settings.exposure))
+                if hasattr(self._camera, "ExposureTime"):
+                    self._camera.ExposureTime.SetValue(float(self.settings.exposure))
+                if hasattr(self._camera, "ExposureTimeAbs"):
+                    self._camera.ExposureTimeAbs.SetValue(float(self.settings.exposure))
                 LOG.info("[Basler] Exposure set to %s us (auto off)", self.settings.exposure)
             except Exception as exc:
                 LOG.warning("[Basler] Failed to set exposure: %s", exc)
@@ -662,9 +668,28 @@ def open(self) -> None:
             getattr(self.settings, "gain", None),
         )
 
-        # ----------------------------
+        # Get hardware tick frequency for timestamp conversion
+        try:
+            node = getattr(self._camera, "GevTimestampTickFrequency", None)
+            if node is not None and node.IsReadable():
+                self._timestamp_tick_frequency_hz = float(node.GetValue())
+                self._timestamp_tick_frequency_source = "GevTimestampTickFrequency"
+                LOG.info(
+                    "[Basler] timestamp tick frequency: %.3f Hz from GevTimestampTickFrequency",
+                    self._timestamp_tick_frequency_hz,
+                )
+        except Exception:
+            LOG.debug("[Basler] Could not read GevTimestampTickFrequency", exc_info=True)
+
+        if not self._timestamp_tick_frequency_hz or self._timestamp_tick_frequency_hz <= 0:
+            self._timestamp_tick_frequency_hz = 1_000_000_000.0
+            self._timestamp_tick_frequency_source = "assumed_default_1ghz"
+            LOG.info(
+                "[Basler] timestamp tick frequency unavailable; assuming %.3f Hz",
+                self._timestamp_tick_frequency_hz,
+            )
+
         # Persist stable identity into namespace
-        # ----------------------------
         try:
             serial = device.GetSerialNumber()
             if serial:
@@ -677,7 +702,36 @@ def open(self) -> None:
         except Exception:
             pass
 
-    def read(self) -> tuple[np.ndarray, float]:
+    def _make_timestamp_metadata(self, grab_result) -> FrameTimestampMetadata | None:
+        try:
+            ticks = int(grab_result.GetTimeStamp())
+        except Exception:
+            return None
+
+        if ticks == 0:
+            # Basler returns 0 if the timestamp is not available (e.g. for some GigE cameras)
+            return None
+
+        freq = getattr(self, "_timestamp_tick_frequency_hz", None)
+        seconds = ticks / freq if freq and freq > 0 else None
+
+        return FrameTimestampMetadata(
+            source="grab_result.GetTimeStamp",
+            backend="basler",
+            default_reported="seconds" if seconds is not None else "raw_value",
+            seconds=seconds,
+            wall_clock_time=None,
+            raw_value=ticks,
+            raw_unit="ticks",
+            tick_frequency_hz=freq,
+            timebase="Basler camera timestamp counter",
+            kind="camera_clock",
+            extra={
+                "tick_frequency_source": self._timestamp_tick_frequency_source,
+            },
+        )
+
+    def read(self) -> CapturedFrame:
         if self._camera is None:
             raise RuntimeError("Basler camera not opened")
         if self._converter is None:
@@ -706,6 +760,10 @@ def read(self) -> tuple[np.ndarray, float]:
             with self._timing.measure("Basler.get_array"):
                 frame = image.GetArray()
 
+            with self._timing.measure("Basler.timestamp"):
+                software_timestamp = time.time()
+                timestamp_metadata = self._make_timestamp_metadata(grab_result)
+
             if not self._logged_first_frame:
                 self._logged_first_frame = True
                 LOG.info(
@@ -734,7 +792,11 @@ def read(self) -> tuple[np.ndarray, float]:
             self._timing.note_frame()
             self._timing.maybe_log()
 
-            return frame, time.time()
+            return CapturedFrame(
+                frame=frame,
+                software_timestamp=software_timestamp,
+                timestamp_metadata=timestamp_metadata,
+            )
 
         except Exception as exc:
             if grab_result is not None:

dlclivegui/cameras/backends/gentl_backend.py

@@ -13,7 +13,7 @@
 import numpy as np
 
 from ...config import DEBUG_TRIGGER_LOGS, CameraTriggerSettings
-from ..base import CameraBackend, SupportLevel, register_backend
+from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend
 from ..factory import DetectedCamera
 from .utils import gentl_discovery as cti_finder
 
@@ -624,7 +624,7 @@ def _output_format_for_frame(frame: np.ndarray) -> str:
             return f"{channels}ch-{frame.dtype}"
         return str(frame.dtype)
 
-    def read(self) -> tuple[np.ndarray, float]:
+    def read(self) -> CapturedFrame:
         if self._acquirer is None:
             raise RuntimeError("GenTL image acquirer not initialised")
 
@@ -665,7 +665,11 @@ def read(self) -> tuple[np.ndarray, float]:
         if self._actual_output_format is None:
             self._actual_output_format = self._output_format_for_frame(frame)
 
-        return frame, timestamp
+        return CapturedFrame(
+            frame=frame,
+            software_timestamp=timestamp,
+            timestamp_metadata=None,
+        )
 
     def stop(self) -> None:
         if self._acquirer is not None:

dlclivegui/cameras/backends/opencv_backend.py

@@ -10,10 +10,9 @@
 from typing import TYPE_CHECKING, Literal
 
 import cv2
-import numpy as np
 from pydantic import BaseModel, Field, model_validator
 
-from ..base import CameraBackend, SupportLevel, register_backend
+from ..base import CameraBackend, CapturedFrame, SupportLevel, register_backend
 from ..factory import DetectedCamera
 from .utils.opencv_discovery import (
     ModeRequest,
@@ -199,21 +198,45 @@ def open(self) -> None:
 
         self._configure_capture()
 
-    def read(self) -> tuple[np.ndarray | None, float]:
-        """Robust frame read: return (None, ts) on transient failures; never raises."""
+    def read(self) -> CapturedFrame:
+        """Robust frame read: return CapturedFrame(frame=None, ...) on transient failures; never raises."""
         if self._capture is None:
             logger.warning("OpenCVCameraBackend.read() called before open()")
-            return None, time.time()
+            return CapturedFrame(
+                frame=None,
+                software_timestamp=time.time(),
+                timestamp_metadata=None,
+            )
+
         try:
             if not self._capture.grab():
-                return None, time.time()
+                return CapturedFrame(
+                    frame=None,
+                    software_timestamp=time.time(),
+                    timestamp_metadata=None,
+                )
+
             success, frame = self._capture.retrieve()
             if not success or frame is None or frame.size == 0:
-                return None, time.time()
-            return frame, time.time()
+                return CapturedFrame(
+                    frame=None,
+                    software_timestamp=time.time(),
+                    timestamp_metadata=None,
+                )
+
+            return CapturedFrame(
+                frame=frame,
+                software_timestamp=time.time(),
+                timestamp_metadata=None,
+            )
+
         except Exception as exc:
-            logger.debug(f"OpenCV read transient error: {exc}")
-            return None, time.time()
+            logger.debug("OpenCV read transient error: %s", exc)
+            return CapturedFrame(
+                frame=None,
+                software_timestamp=time.time(),
+                timestamp_metadata=None,
+            )
 
     def close(self) -> None:
         self._release_capture()

dlclivegui/cameras/base.py

@@ -3,6 +3,7 @@
 
 import logging
 from abc import ABC, abstractmethod
+from dataclasses import dataclass
 from enum import Enum
 from typing import TYPE_CHECKING, Any, ClassVar
 
@@ -11,6 +12,7 @@
 from ..config import CameraSettings
 
 if TYPE_CHECKING:
+    from ..utils.timestamps import FrameTimestampMetadata
     from .factory import DetectedCamera
 
 _BACKEND_REGISTRY: dict[str, type[CameraBackend]] = {}
@@ -72,9 +74,24 @@ class SupportLevel(str, Enum):
     "device_discovery": SupportLevel.UNSUPPORTED,
     "stable_identity": SupportLevel.UNSUPPORTED,
     "hardware_trigger": SupportLevel.UNSUPPORTED,
+    "hardware_frame_timestamps": SupportLevel.UNSUPPORTED,
 }
 
 
+@dataclass(frozen=True)
+class CapturedFrame:
+    """Frame plus software timestamp and optional backend timestamp metadata."""
+
+    frame: np.ndarray | None
+    software_timestamp: float
+    timestamp_metadata: FrameTimestampMetadata | None = None
+
+    def __iter__(self):
+        """Backwards-compatible unpacking: frame, software_timestamp = backend.read()"""
+        yield self.frame
+        yield self.software_timestamp
+
+
 class CameraBackend(ABC):
     """Abstract base class for camera backends."""
 
@@ -171,7 +188,7 @@ def open(self) -> None:
         raise NotImplementedError
 
     @abstractmethod
-    def read(self) -> tuple[np.ndarray, float]:
+    def read(self) -> CapturedFrame:
         """Read a frame and return the image with a timestamp."""
         raise NotImplementedError
 

dlclivegui/gui/main_window.py

@@ -1403,7 +1403,9 @@ def _render_overlays_for_recording(self, cam_id, frame):
             )
         return output
 
-    def _on_recording_frame_ready(self, camera_id: str, frame: np.ndarray, timestamp: float) -> None:
+    def _on_recording_frame_ready(
+        self, camera_id: str, frame: np.ndarray, timestamp: float, timestamp_metadata: object | None = None
+    ) -> None:
         """Handle full-rate per-camera frames for recording only.
 
         Intentionally lean:
@@ -1419,7 +1421,7 @@ def _on_recording_frame_ready(self, camera_id: str, frame: np.ndarray, timestamp
         if self.record_with_overlays_checkbox.isChecked():
             frame = self._render_overlays_for_recording(camera_id, frame)
 
-        self._rec_manager.write_frame(camera_id, frame, timestamp)
+        self._rec_manager.write_frame(camera_id, frame, timestamp, timestamp_metadata=timestamp_metadata)
 
     def _on_multi_frame_processing_ready(self, frame_data: MultiFrameData) -> None:
         """Handle frames from multiple cameras.

dlclivegui/gui/recording_manager.py

@@ -192,12 +192,18 @@ def stop_all(self) -> None:
         self._session_dir = None
         self._run_dir = None
 
-    def write_frame(self, cam_id: str, frame: np.ndarray, timestamp: float | None = None) -> None:
+    def write_frame(
+        self, cam_id: str, frame: np.ndarray, timestamp: float | None = None, timestamp_metadata: object | None = None
+    ) -> None:
         rec = self._recorders.get(cam_id)
         if not rec or not rec.is_running:
             return
         try:
-            rec.write(frame, timestamp=timestamp if timestamp is not None else time.time())
+            rec.write(
+                frame,
+                timestamp=timestamp if timestamp is not None else time.time(),
+                timestamp_metadata=timestamp_metadata,
+            )
         except Exception as exc:
             log.warning("Failed to write frame for %s: %s", cam_id, exc)
             try: