* Updating timestamping for V4L cameras

Signed-off-by: Christian Berger <christian.berger@gu.se>

Author: chrberger

Dockerfile.aarch64

@@ -19,9 +19,8 @@ MAINTAINER Christian Berger "christian.berger@gu.se"
 
 RUN [ "cross-build-start" ]
 
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         cmake \
@@ -57,9 +56,8 @@ MAINTAINER Christian Berger "christian.berger@gu.se"
 
 RUN [ "cross-build-start" ]
 
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         libx11

Dockerfile.amd64

@@ -16,9 +16,8 @@
 # Part to build opendlv-device-camera-v4l.
 FROM alpine:3.7 as builder
 MAINTAINER Christian Berger "christian.berger@gu.se"
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         cmake \
@@ -49,9 +48,8 @@ RUN mkdir build && \
 FROM alpine:3.7
 MAINTAINER Christian Berger "christian.berger@gu.se"
 
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         libx11

Dockerfile.armhf

@@ -19,9 +19,8 @@ MAINTAINER Christian Berger "christian.berger@gu.se"
 
 RUN [ "cross-build-start" ]
 
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         cmake \
@@ -57,9 +56,8 @@ MAINTAINER Christian Berger "christian.berger@gu.se"
 
 RUN [ "cross-build-start" ]
 
-RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
-    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+RUN echo http://dl-4.alpinelinux.org/alpine/v3.8/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/v3.8/community >> /etc/apk/repositories && \
     apk update && \
     apk --no-cache add \
         libx11

README.md

@@ -42,7 +42,7 @@ To run this microservice using our pre-built Docker multi-arch images to open
 a Video4Linux-supported camera, simply start it as follows:
 
 ```
-docker run --rm -ti --init --ipc=host -v /tmp:/tmp -e DISPLAY=$DISPLAY --device /dev/video0 chalmersrevere/opendlv-device-camera-v4l-multi:v0.0.6 --camera=/dev/video0 --width=640 --height=480 --freq=20 --verbose
+docker run --rm -ti --init --ipc=host -v /tmp:/tmp -e DISPLAY=$DISPLAY --device /dev/video0 chalmersrevere/opendlv-device-camera-v4l-multi:v0.0.7 --camera=/dev/video0 --width=640 --height=480 --freq=20 --verbose
 ```
 
 ## Build from sources on the example of Ubuntu 16.04 LTS

src/opendlv-device-camera-v4l.cpp

@@ -22,6 +22,7 @@
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <sys/select.h>
+#include <time.h>
 #include <unistd.h>
 
 #include <linux/videodev2.h>
@@ -224,6 +225,19 @@ int32_t main(int32_t argc, char **argv) {
              (sharedMemoryARGB && sharedMemoryARGB->valid()) ) {
             std::clog << "[opendlv-device-camera-v4l]: Data from camera '" << commandlineArguments["camera"]<< "' available in I420 format in shared memory '" << sharedMemoryI420->name() << "' (" << sharedMemoryI420->size() << ") and in ARGB format in shared memory '" << sharedMemoryARGB->name() << "' (" << sharedMemoryARGB->size() << ")." << std::endl;
 
+            int64_t uptimeToEpochOffsetIn_ms{0};
+            {
+                struct timeval epochTime{};
+                gettimeofday(&epochTime, nullptr);
+
+                struct timespec upTime{};
+                clock_gettime(CLOCK_MONOTONIC, &upTime);
+
+                int64_t uptimeIn_ms = upTime.tv_sec * 1000 + static_cast<int64_t>(round(upTime.tv_nsec/ 1000.0f*1000.0f));
+                int64_t epochTimeIn_ms =  epochTime.tv_sec * 1000  + static_cast<int64_t>(round(epochTime.tv_usec/1000.0f));
+                uptimeToEpochOffsetIn_ms = epochTimeIn_ms - uptimeIn_ms;
+            }
+
             // Define timeout for select system call.
             struct timeval timeout {};
             fd_set setOfFiledescriptorsToReadFrom{};
@@ -263,8 +277,12 @@ int32_t main(int32_t argc, char **argv) {
                         return false;
                     }
 
-                    cluon::data::TimeStamp ts;
-                    ts.seconds(v4l2_buf.timestamp.tv_sec).microseconds(v4l2_buf.timestamp.tv_usec/1000);
+                    cluon::data::TimeStamp ts{cluon::time::now()};
+                    if ( (v4l2_buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK) == V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC ) {
+                        int64_t temp_ms = v4l2_buf.timestamp.tv_sec * 1000 + static_cast<int64_t>(round(v4l2_buf.timestamp.tv_usec/1000.0f));
+                        int64_t epochTimeStampIn_ms = temp_ms + uptimeToEpochOffsetIn_ms;
+                        ts = cluon::time::fromMicroseconds(epochTimeStampIn_ms*1000);
+                    }
 
                     const uint8_t bufferIndex = v4l2_buf.index;
                     const uint32_t bufferSize = v4l2_buf.bytesused;