[gareth-morgan-nv]

Summary

Receiver, mock and bridge side of capture-time alignment. Stacked on the bridge PR.

• Wire: AVS1 bundle flag 0x0008: one 24-byte record per sample with the sensor capture instant on the sender's monotonic clock, its stated uncertainty, anchor age and a validity bit. The receiver parses and validates it and publishes the fields in the IPC metadata.
• Mock: emits it from a synthetic sender clock (offset, drift, steps), writes the true capture instant to a ground-truth file, and serves the sender's stateless UDP clock responder (13-byte request, 29-byte reply) with mute, loss and reorder faults.
• Bridge: measures the sender clock over that responder and publishes capture_monotonic_us only for frames that qualify: valid record, current mapping with warm-up, mapping plus sensor uncertainty within the budget, possible age. Otherwise no capture time is published and frame-ready time is never substituted. A reply counts only from the sender's address, of the exact size and tag, matching the outstanding request and the current session generation.

Limitations

A step of the sender clock shows at the next exchange, so frames in between (at most one exchange interval) carry the old offset; a learned age level cannot tell a step from a stall, so none is used. The sender side (real Orin) is not part of this PR and has not been qualified against it.

Testing

ctest 7/7 (clock-estimator golden vectors from egocap's estimator, qualifier, UDP client against a fake sender, plus the existing targets). A scenario test through the real receiver, bridge and a local LiveKit server (accuracy, step, restart, stale mapping, loss and reorder, invalid records, refusal) passed twice; with a 1.2 s offset and 50 ppm drift the published capture time is within about 100 us of ground truth. A take saved by the unchanged egocap timing recorder matched ground truth within 0.84 ms. The scenario test was reformatted after those runs and not rerun.

🤖 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/CameraStreamingLiveKit
• File: .coderabbit.yaml
• Commit: d950e1f
• Layers: Repository YAML
• Review profile: CHILL
• Plan: Enterprise
• Run ID: f41f1177-d770-4404-800d-b8c2a68b88d7

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