TimestampFeatures.cpp

The TimestampFeatures.cpp program is used to demonstrate the different variants to synchronize the devices clocks with a given host application or between the devices self.

Since

2.40.0

Note

• A C++11 compliant compiler is needed to build this example.

Program location

The source file TimestampFeatures.cpp can be found under:

%INSTALLDIR%\apps\TimestampFeatures\

Note

If you have installed the package without example applications, this file will not be available. On Windows® the sample application can be installed or removed from the target system at any time by simply restarting the installation package.

TimestampFeatures example:

1. Opens a Balluff device. Depending on the selected mode a second Device will be selected.
2. Synchronizes the device(s) clock(s).
3. Prints the deviations of the clocks to console output while synchronization is active.

the following time stamp synchronization modes are included in this example:

1. IEEE1588 PTP (closed loop)
2. Pulse per second synchronization (closed loop)
3. Pulse per second synchronization with initial offset (closed loop)
4. Forced time stamp preload to every next second via application (open loop)

required equipment for execution:

• At least a Device with IO Capability and at least one free input
• An external pulse generator which generates a high pulse every second
• For IEEE1588 PTP a separate Device is required with IO Capabilities and at least one free input and output as well

Source code

//
// @description: Example applications for Impact Acquire
// @copyright: Copyright (C) 2020 - 2024 Balluff GmbH
// @authors: APIs and drivers development team at Balluff GmbH
// @initial date: 2020-07-27
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice (including the next paragraph) shall be included in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,i
// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//
 
#include <chrono>
#include <cstdio>
#include <cstdlib>
#include <iostream>
#include <iomanip>
#include <thread>
#include <memory>
#include <mutex>
#include <vector>
#include <apps/Common/exampleHelper.h>
#include <common/minmax.h>
#include <apps/Common/exampleHelper.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>
#ifdef _WIN32
#   define USE_DISPLAY
#   include <mvDisplay/Include/mvIMPACT_acquire_display.h>
using namespace mvIMPACT::acquire::display;
#endif // #ifdef _WIN32
 
using namespace std;
using namespace mvIMPACT::acquire;
using namespace mvIMPACT::acquire::GenICam;
 
static mutex s_mutex;
static bool s_boTerminated = false;
 
//-----------------------------------------------------------------------------
enum TTimestampTestMode
//-----------------------------------------------------------------------------
{
    ttmNone = -1,
    ttmPPSWithIOLine,
    ttmPPSWithIOLineAndOffset,
    ttmPreLoadEverySecond,
    ttmPTPWithTwoCams
};
 
//-----------------------------------------------------------------------------
class ThreadParameter
//-----------------------------------------------------------------------------
{
    Device* pDev_;
#ifdef USE_DISPLAY
    unique_ptr<ImageDisplayWindow> pDisplayWindow_;
#endif // #ifdef USE_DISPLAY
public:
    explicit ThreadParameter( Device* pDev ) : pDev_( pDev ) {}
    ThreadParameter( const ThreadParameter& src ) = delete;
    Device* device( void ) const
    {
        return pDev_;
    }
#ifdef USE_DISPLAY
    void createDisplayWindow( const string& windowTitle )
    {
        pDisplayWindow_ = unique_ptr<ImageDisplayWindow>( new ImageDisplayWindow( windowTitle ) );
    }
    ImageDisplayWindow& displayWindow( void )
    {
        return *pDisplayWindow_;
    }
#endif // #ifdef USE_DISPLAY
};
 
//-----------------------------------------------------------------------------
void writeToStdout( const string& msg )
//-----------------------------------------------------------------------------
{
    lock_guard<mutex> lockedScope( s_mutex );
    cout << msg << endl;
}
 
//-----------------------------------------------------------------------------
string getStringFromCIN( void )
//-----------------------------------------------------------------------------
{
    cout << endl << ">>> ";
    string cmd;
    cin >> cmd;
    // remove the '\n' from the stream
    cin.get();
    return cmd;
}
 
//-----------------------------------------------------------------------------
TTimestampTestMode getSynchronizationModeFromUser( void )
//-----------------------------------------------------------------------------
{
    TTimestampTestMode testMode = ttmNone;
    bool boRun = true;
 
    while( boRun )
    {
        cout << endl
             << " Please select synchronization mode" << endl
             << " ------------------------------------------" << endl
             << " [0] - (1 Camera ) - Pulse per Second controller by I/O Line" << endl
             << " [1] - (1 Camera ) - Pulse per Second controller by I/O Line with initial system time" << endl
             << " [2] - (1 Camera ) - Load the timer every second beforehand" << endl
             << " [3] - (2 Cameras) - Precision Time Protocol with two cameras (PTP)" << endl
             << " ------------------------------------------" << endl
             << endl
             << "Please enter a valid option followed by [ENTER]:" << endl
             << "- or enter 'c' followed by [ENTER] to cancel:" << endl;
 
        const string cmd( getStringFromCIN() );
        if( cmd == "c" )
        {
            boRun = false;
            continue;
        }
        const int selectedMode = static_cast<int>( atoi( cmd.c_str() ) );
        if( ( selectedMode <= ttmNone ) || ( selectedMode > ttmPTPWithTwoCams ) )
        {
            cout << "Invalid selection" << endl;
            continue;
        }
 
        testMode = static_cast<TTimestampTestMode>( selectedMode );
        boRun = false;
    }
 
    return testMode;
}
 
//-----------------------------------------------------------------------------
void loadDefaultUserSet( Device* pDev )
//-----------------------------------------------------------------------------
{
    UserSetControl usc( pDev );
    usc.userSetSelector.writeS( "Default" );
    usc.userSetLoad.call();
    cout << "Loading default UserSet of Device " << pDev->serial.read() << "(" << pDev->product << ")" << endl;
}
 
//-----------------------------------------------------------------------------
std::string printHumanReadableUnixTime( unsigned long long time )
//-----------------------------------------------------------------------------
{
    time_t rawtime = ( time_t )time;
    std::time_t t = std::time( &rawtime );
    char mbstr[100];
    std::strftime( mbstr, sizeof( mbstr ), "%A %c", std::localtime( &t ) );
    return std::string( mbstr );
}
 
//-----------------------------------------------------------------------------
bool testModeRequiresSecondCamera( TTimestampTestMode type )
//-----------------------------------------------------------------------------
{
    return type == TTimestampTestMode::ttmPTPWithTwoCams;
}
 
//-----------------------------------------------------------------------------
void printPulsePTPOnLine4( void )
//-----------------------------------------------------------------------------
{
    cout << " ---------------------------------------------------" << endl
         << "  Attention 'Please connect IO Lines as follows'    " << endl
         << " ---------------------------------------------------" << endl
         << " |\\ |---------|   " << endl
         << " | \\|         | Line4 Input " << endl
         << " |  |  Slave  |---------------|" << endl
         << " | /|         |               |" << endl
         << " |/ |---------|               |" << endl
         << "                              |" << endl
         << " |\\ |---------|               |" << endl
         << " | \\|         | Line4 Input   |" << endl
         << " |  |  Master |---------------X" << endl
         << " | /|         |---------------|" << endl
         << " |/ |---------| Line0 Output" << endl
         << endl;
}
 
//-----------------------------------------------------------------------------
void printPulseGeneratorOnLine4( void )
//-----------------------------------------------------------------------------
{
    cout << " ---------------------------------------------------" << endl
         << "  Attention 'Please connect IO Lines as follows'    " << endl
         << " ---------------------------------------------------" << endl
         << " |\\ |---------|                     |----------|" << endl
         << " | \\|         | Line4 Input         |          |" << endl
         << " |  |  MV0    |---------------------|  _|1s|_  |" << endl
         << " | /|         |                     |  Pulse   |" << endl
         << " |/ |---------|                     |----------|" << endl
         << endl;
}
 
//-----------------------------------------------------------------------------
void printPulseGeneratorWarning( void )
//-----------------------------------------------------------------------------
{
    cout << " ---------------------------------------------------" << endl
         << "  Attention 'External Pulse Generator is required!' " << endl
         << " ---------------------------------------------------" << endl
         << " This example requires an external GPS PPS pulse generator" << endl
         << " or any other equivalent pulse generator which outputs" << endl
         << " equidistant pulses every second. To simply execute the" << endl
         << " example, a second camera can be used as pulse generator." << endl
         << " Therefore a timer can be programmed to set a cameras output" << endl
         << endl;
}
 
//-----------------------------------------------------------------------------
void printPTPWarning( void )
//-----------------------------------------------------------------------------
{
    cout << " -----------------------------------------------------" << endl
         << "  Attention 'IEEE1588 compliant Hardware is required!'" << endl
         << " -----------------------------------------------------" << endl
         << " This example requires IEEE1588 compliant switches and" << endl
         << " clocks to guarantee a low latency high precision time" << endl
         << " stamp synchronization. Otherwise the synchronization might" << endl
         << " be inaccurate." << endl
         << endl;
}
 
//-----------------------------------------------------------------------------
void liveThread( shared_ptr<ThreadParameter> pParameter )
//-----------------------------------------------------------------------------
{
    Device* pDev = pParameter->device();
    // establish access to the statistic properties
    Statistics statistics( pDev );
    // create an interface to the device found
    FunctionInterface fi( pDev );
 
    // Send all requests to the capture queue. There can be more than 1 queue for some devices, but for this sample
    // we will work with the default capture queue. If a device supports more than one capture or result
    // queue, this will be stated in the manual. If nothing is mentioned about it, the device supports one
    // queue only. This loop will send all requests currently available to the driver. To modify the number of requests
    // use the property mvIMPACT::acquire::SystemSettings::requestCount at runtime (note that some devices will
    // only allow to modify this parameter while NOT streaming data!) or the property
    // mvIMPACT::acquire::Device::defaultRequestCount BEFORE opening the device.
    TDMR_ERROR result = DMR_NO_ERROR;
    while( ( result = static_cast<TDMR_ERROR>( fi.imageRequestSingle() ) ) == DMR_NO_ERROR ) {};
    if( result != DEV_NO_FREE_REQUEST_AVAILABLE )
    {
        lock_guard<mutex> lockedScope( s_mutex );
        cout << "'FunctionInterface.imageRequestSingle' returned with an unexpected result: " << result
             << "(" << ImpactAcquireException::getErrorCodeAsString( result ) << ")" << endl;
    }
 
    manuallyStartAcquisitionIfNeeded( pDev, fi );
    // run thread loop
    const Request* pRequest = nullptr;
    const unsigned int timeout_ms = { 500 };
    int requestNr = INVALID_ID;
    // we always have to keep at least 2 images as the display module might want to repaint the image, thus we
    // can't free it unless we have a assigned the display to a new buffer.
    int lastRequestNr = { INVALID_ID };
    unsigned int cnt = { 0 };
    while( !s_boTerminated )
    {
        // wait for results from the default capture queue
        requestNr = fi.imageRequestWaitFor( timeout_ms );
        if( fi.isRequestNrValid( requestNr ) )
        {
            pRequest = fi.getRequest( requestNr );
            if( pRequest->isOK() )
            {
                ++cnt;
                // here we can display some statistical information every 100th image
                if( cnt % 100 == 0 )
                {
                    lock_guard<mutex> lockedScope( s_mutex );
                    cout << "Info from " << pDev->serial.read()
                         << ": " << statistics.framesPerSecond.name() << ": " << statistics.framesPerSecond.readS()
                         << ", " << statistics.errorCount.name() << ": " << statistics.errorCount.readS()
                         << ", " << statistics.captureTime_s.name() << ": " << statistics.captureTime_s.readS() << endl;
                }
#ifdef USE_DISPLAY
                ImageDisplay& display = pParameter->displayWindow().GetImageDisplay();
                display.SetImage( pRequest );
                display.Update();
#endif // #ifdef USE_DISPLAY
 
                writeToStdout( "got timestamp of image " + pRequest->infoFrameID.readS() + " ( " + printHumanReadableUnixTime( pRequest->infoTimeStamp_us.read() ) + " ) " + " from " + pDev->serial.read() + ": " + printHumanReadableUnixTime( pRequest->chunkTimestamp.read() ) );
            }
            else
            {
                writeToStdout( "Error: " + pRequest->requestResult.readS() );
            }
            if( fi.isRequestNrValid( lastRequestNr ) )
            {
                // this image has been displayed thus the buffer is no longer needed...
                fi.imageRequestUnlock( lastRequestNr );
            }
            lastRequestNr = requestNr;
            // send a new image request into the capture queue
            fi.imageRequestSingle();
        }
        //else
        //{
        // Please note that slow systems or interface technologies in combination with high resolution sensors
        // might need more time to transmit an image than the timeout value which has been passed to imageRequestWaitFor().
        // If this is the case simply wait multiple times OR increase the timeout(not recommended as usually not necessary
        // and potentially makes the capture thread less responsive) and rebuild this application.
        // Once the device is configured for triggered image acquisition and the timeout elapsed before
        // the device has been triggered this might happen as well.
        // The return code would be -2119(DEV_WAIT_FOR_REQUEST_FAILED) in that case, the documentation will provide
        // additional information under TDMR_ERROR in the interface reference.
        // If waiting with an infinite timeout(-1) it will be necessary to call 'imageRequestReset' from another thread
        // to force 'imageRequestWaitFor' to return when no data is coming from the device/can be captured.
        // cout << "imageRequestWaitFor failed (" << requestNr << ", " << ImpactAcquireException::getErrorCodeAsString( requestNr ) << ")"
        //   << ", timeout value too small?" << endl;
        //}
    }
    manuallyStopAcquisitionIfNeeded( pDev, fi );
 
#ifdef USE_DISPLAY
    // stop the display from showing freed memory
    pParameter->displayWindow().GetImageDisplay().RemoveImage();
#endif // #ifdef USE_DISPLAY
    // In this sample all the next lines are redundant as the device driver will be
    // closed now, but in a real world application a thread like this might be started
    // several times an then it becomes crucial to clean up correctly.
 
    // free the last potentially locked request
    if( fi.isRequestNrValid( requestNr ) )
    {
        fi.imageRequestUnlock( requestNr );
    }
    // clear all queues
    fi.imageRequestReset( 0, 0 );
}
 
//-----------------------------------------------------------------------------
void ConfigureCameraForPTPTestMode( Device* pDev, TBoolean isMaster )
//-----------------------------------------------------------------------------
{
    AcquisitionControl acqc( pDev );
    ChunkDataControl cdc( pDev );
 
    cdc.chunkModeActive.write( TBoolean::bTrue );
    cdc.chunkSelector.writeS( "Timestamp" );
    cdc.chunkEnable.write( TBoolean::bTrue );
 
    acqc.triggerSelector.writeS( "FrameStart" );
    acqc.triggerMode.writeS( "On" );
    acqc.triggerSource.writeS( "Line4" );
    acqc.triggerActivation.writeS( "RisingEdge" );
 
    if( isMaster == TBoolean::bTrue )
    {
        DigitalIOControl dioc( pDev );
        CounterAndTimerControl catc( pDev );
 
        catc.timerSelector.writeS( "Timer1" );
        catc.timerTriggerSource.writeS( "Timer2End" );
        catc.timerDuration.write( 1000000.0 );
        catc.timerDelay.write( 0.0 );
        catc.timerSelector.writeS( "Timer2" );
        catc.timerTriggerSource.writeS( "Timer1End" );
        catc.timerDuration.write( 10000.0 );
        catc.timerDelay.write( 0.0 );
 
        dioc.lineSelector.writeS( "Line0" );
        dioc.lineSource.writeS( "Timer2Active" );
    }
}
 
//-----------------------------------------------------------------------------
void PTPWithTwoCams( Device* pDev0, Device* pDev1 )
//-----------------------------------------------------------------------------
{
    static const int s_SECOND = 1;
    static const int s_PTP_BEST_MASTER_CLOCK_WAIT_TIME = 15;
 
    loadDefaultUserSet( pDev0 );
    loadDefaultUserSet( pDev1 );
 
    printPTPWarning();
 
    cout << " This example shows a simple way to set the timestamps" << endl
         << " of the cameras internal timer. It uses a drift compensation" << endl
         << " via a closed loop controller. The system time is set at" << endl
         << " the beginning on the previously determined master camera only." << endl
         << endl;
    try
    {
        Device* pDevMaster = nullptr;
        Device* pDevSlave = nullptr;
 
        TransportLayerControl tlc0( pDev0 );
        TransportLayerControl tlc1( pDev1 );
 
        // determine, which camera will be the master, therefore we simply switch on
        // ptp the first time and wait until the controllers of both cameras are stable
        tlc0.ptpEnable.write( TBoolean::bTrue );
        tlc1.ptpEnable.write( TBoolean::bTrue );
 
        for( int i = 0; i < s_PTP_BEST_MASTER_CLOCK_WAIT_TIME * s_SECOND; i++ )
        {
            this_thread::sleep_for( chrono::milliseconds( s_SECOND * 1000 ) );
            tlc0.ptpDataSetLatch.call();
            cout << "cam0 '" << pDev0->serial.readS() << "', '" << pDev0->product.readS() << "' has ptp state '" << tlc0.ptpStatus.readS() << "'" << endl;
            if( tlc0.ptpStatus.readS() == "Master" )
            {
                pDevMaster = pDev0;
                pDevSlave = pDev1;
                break;
            }
            cout << "cam1 '" << pDev1->serial.readS() << "', '" << pDev1->product.readS() << "' has ptp state '" << tlc1.ptpStatus.readS() << "'" << endl;
            if( tlc0.ptpStatus.readS() == "Slave" )
            {
                pDevMaster = pDev1;
                pDevSlave = pDev0;
                break;
            }
        }
 
        tlc0.ptpDataSetLatch.call();
        tlc1.ptpDataSetLatch.call();
 
        if( pDevSlave == nullptr || pDevMaster == nullptr )
        {
            cout << "we could not determine which camera is master and which one is slave" << endl;
            return;
        }
 
        if( tlc1.ptpStatus.readS().compare( tlc0.ptpStatus.readS() ) == 0 )
        {
            cout << "both cameras had the same state '" << tlc0.ptpStatus.readS() << "'.something went wrong!" << endl;
            return;
        }
 
        printPulsePTPOnLine4();
        cout << "Master is " << pDevMaster->serial.readS() << endl;
        cout << "Slave is " << pDevSlave->serial.readS() << endl;
        cout << "please contact IOs as mentioned above" << endl;
        cout << "Press [ENTER] to proceed with PTP example" << endl;
        cin.get();
 
        tlc0.ptpEnable.write( TBoolean::bFalse );
        tlc1.ptpEnable.write( TBoolean::bFalse );
 
        TransportLayerControl tlcMaster( pDevMaster );
        TransportLayerControl tlcSlave( pDevSlave );
        DeviceControl dcMaster( pDevMaster );
        DeviceControl dcSlave( pDevSlave );
 
        // then we set the clock of the master device to systems time and the slaves
        // clock to zero
 
        // get system clock and time stamp tick value
        const unsigned long long unixTimeSystem = static_cast<unsigned long long>( std::chrono::duration_cast<std::chrono::seconds>( chrono::system_clock::now().time_since_epoch() ).count() );
        const unsigned long long gevsTimeTickFrequencyValue = static_cast<unsigned long long>( tlcMaster.gevTimestampTickFrequency.read() );
        const unsigned long long cameraTimeSystem = unixTimeSystem * gevsTimeTickFrequencyValue;
 
        // pre-load sets the devices clock to the system time
        // set cameras clock
        dcMaster.mvTimestampResetValue.write( static_cast<int64_type>( cameraTimeSystem ) );
        dcSlave.mvTimestampResetValue.write( static_cast<int64_type>( 0 ) );
        dcMaster.timestampReset.call();
        dcSlave.timestampReset.call();
 
        // now we start PTP and wait until both cameras are in stable controller state
        tlcMaster.ptpEnable.write( TBoolean::bTrue );
        tlcSlave.ptpEnable.write( TBoolean::bTrue );
 
        for( int i = 0; i < s_PTP_BEST_MASTER_CLOCK_WAIT_TIME * s_SECOND; i++ )
        {
            this_thread::sleep_for( chrono::milliseconds( s_SECOND * 1000 ) );
            tlcMaster.ptpDataSetLatch.call();
            tlcSlave.ptpDataSetLatch.call();
            cout << "Master has ptp state '" << tlcMaster.ptpStatus.readS() << "'!" << endl;
            cout << "Slave has ptp state '" << tlcSlave.ptpStatus.readS() << "'!" << endl;
            if( ( tlcMaster.ptpStatus.readS() == "Master" ) &&
                ( tlcSlave.ptpStatus.readS() == "Slave" ) )
            {
                break;
            }
        }
 
        // now we use the acquisition trigger via line4 on both devices to capture
        // images which have time stamps, we can compare. Therefore we configure
        // the master and the slave properly
        ConfigureCameraForPTPTestMode( pDevMaster, TBoolean::bTrue );
        ConfigureCameraForPTPTestMode( pDevSlave, TBoolean::bFalse );
 
        // reduce the bandwidth of the devices when using them in switched networks
        // some switches might have troubles with high throughput in a short amount of time
        dcMaster.deviceLinkThroughputLimitMode.write( TBoolean::bTrue );
        dcMaster.deviceLinkThroughputLimit.write( dcMaster.deviceLinkSpeed.read() / 2 );
        dcSlave.deviceLinkThroughputLimitMode.write( TBoolean::bTrue );
        dcSlave.deviceLinkThroughputLimit.write( dcSlave.deviceLinkSpeed.read() / 2 );
 
        // now prepare the requests and the image capturing
        // store all device infos in a vector
        // and start the execution of a 'live' thread for each device.
        map<shared_ptr<ThreadParameter>, shared_ptr<thread>> threads;
        shared_ptr<ThreadParameter> pParameterSlave = make_shared<ThreadParameter>( pDevSlave );
        shared_ptr<ThreadParameter> pParameterMaster = make_shared<ThreadParameter>( pDevMaster );
#ifdef USE_DISPLAY
        // IMPORTANT: It's NOT safe to create multiple display windows in multiple threads!!!
        // Therefore this must be done before starting the threads
        pParameterSlave->createDisplayWindow( "mvIMPACT_acquire sample, Device " + pDevSlave->serial.read() );
        pParameterMaster->createDisplayWindow( "mvIMPACT_acquire sample, Device " + pDevMaster->serial.read() );
#endif // #ifdef USE_DISPLAY
        threads[pParameterSlave] = make_shared<thread>( liveThread, pParameterSlave );
        threads[pParameterMaster] = make_shared<thread>( liveThread, pParameterMaster );
 
        // now all threads will start running...
        writeToStdout( "Press [ENTER] to end the acquisition" );
 
        if( getchar() == EOF )
        {
            writeToStdout( "'getchar()' did return EOF..." );
        }
 
        // stop all threads again
        writeToStdout( "Terminating live threads..." );
        s_boTerminated = true;
        for( auto& it : threads )
        {
            it.second->join();
        }
 
        // disable link speed throughput because its a permanent setting
        dcMaster.deviceLinkThroughputLimitMode.write( TBoolean::bFalse );
        dcSlave.deviceLinkThroughputLimitMode.write( TBoolean::bFalse );
    }
    catch( const ImpactAcquireException& e )
    {
        cout << endl;
        cout << " An " << PRODUCT_NAME << " exception occurred:" << e.getErrorCodeAsString() << endl;
        cout << endl;
    }
}
 
//-----------------------------------------------------------------------------
void PulsePerSecond( Device* pDev, bool withPreLoad )
//-----------------------------------------------------------------------------
{
    static const int s_TIME_STEP_WIDTH_MS     = 100;
    static const int s_TEST_TIME_LOOP_COUNTER = 120 * s_TIME_STEP_WIDTH_MS / 10;
 
    loadDefaultUserSet( pDev );
 
    printPulseGeneratorWarning();
    printPulseGeneratorOnLine4();
    cout << "please contact I/Os as mentioned above" << endl
         << "The example takes about 2 minutes." << endl
         << "Press [ENTER] to proceed with PPS example" << endl;
    cin.get();
 
    cout << " This example shows a simple way to set the time stamps" << endl
         << " of the cameras internal timer. It uses a drift compensation" << endl
         << " via a closed loop controller. The offset is optionally set at" << endl
         << " the beginning." << endl << endl;
 
    try
    {
        DigitalIOControl dioc( pDev );
        EventControl evc( pDev );
        DeviceControl dc( pDev );
        TransportLayerControl tlc( pDev );
 
        if( dc.mvTimestampPPSSync.isValid() == false || evc.eventLine4RisingEdge.isValid() == false ||
            ( withPreLoad == true && dc.mvTimestampResetValue.isValid() == false ) || tlc.gevTimestampTickFrequency.isValid() == false ||
            dc.timestampReset.isValid() == false )
        {
            cout << " A required Property for this example is not supported by the camera" << endl;
            return;
        }
 
        // enable event input line 4 on rising edge
        evc.eventSelector.writeS( "Line4RisingEdge" );
        evc.eventNotification.writeS( "On" );
 
        // get system clock and time stamp tick value
        const unsigned long long unixTimeSystem = static_cast<unsigned long long>( std::chrono::duration_cast<std::chrono::seconds>( chrono::system_clock::now().time_since_epoch() ).count() );
        const unsigned long long gevsTimeTickFrequencyValue = static_cast<unsigned long long>( tlc.gevTimestampTickFrequency.read() );
        const unsigned long long cameraTimeSystem = unixTimeSystem * gevsTimeTickFrequencyValue;
 
        // pre-load sets the devices clock to the system time
        if( withPreLoad == true )
        {
            // set cameras clock
            dc.mvTimestampResetValue.write( static_cast<int64_type>( cameraTimeSystem ) );
            dc.timestampReset.call();
        }
 
        // enable PPS on Line 4
        dc.mvTimestampPPSSync.writeS( "Line4" );
 
        // print out the timestamps and the difference to the last
        for( int i = 0; i < s_TEST_TIME_LOOP_COUNTER; i++ )
        {
            this_thread::sleep_for( chrono::milliseconds( s_TIME_STEP_WIDTH_MS ) );
            static unsigned long long s_lastVal = 0;
            unsigned long long newVal = static_cast<unsigned long long>( evc.eventLine4RisingEdgeTimestamp.read() );
            if( s_lastVal != newVal )
            {
                if( s_lastVal != 0 )
                {
                    const double difference = ( ( static_cast<double>( newVal ) - static_cast<double>( s_lastVal ) ) / static_cast<double>( gevsTimeTickFrequencyValue ) - 1.0 ) * 1000000.0;
                    cout << "Got time stamp " << printHumanReadableUnixTime( newVal ) << " ( " << newVal << " ), " << " difference from 1s is: " << difference << "us" << endl;
                }
                s_lastVal = newVal;
            }
        }
 
        dc.mvTimestampResetValue.write( static_cast<int64_type>( 0 ) );
        dc.mvTimestampPPSSync.writeS( "Off" );
    }
    catch( const ImpactAcquireException& e )
    {
        cout << endl;
        cout << " An " << PRODUCT_NAME << " exception occurred:" << e.getErrorCodeAsString() << endl;
        cout << endl;
    }
}
 
//-----------------------------------------------------------------------------
void PreLoadSecond( Device* pDev )
//-----------------------------------------------------------------------------
{
    static const int s_TIME_STEP_WIDTH_MS     = 100;
    static const int s_TEST_TIME_LOOP_COUNTER = 120 * s_TIME_STEP_WIDTH_MS / 10;
 
    loadDefaultUserSet( pDev );
 
    printPulseGeneratorOnLine4();
    printPulseGeneratorWarning();
    cout << "please contact I/Os as mentioned above" << endl
         << "The example takes about 2 minutes." << endl
         << "Press [ENTER] to proceed with example" << endl;
    cin.get();
 
    cout << " This example shows a rough way to set the time stamps" << endl
         << " of the cameras internal timer. This example does neither a " << endl
         << " proper offset nor a drift compensation via a closed loop " << endl
         << " controller. It simply shows how a timer can be forced to a" << endl
         << " given time by simply using a pulsed signal with a " << endl
         << " previously transfered pre-loaded value. The drift can be seen" << endl
         << " when looking at the lower part of each time stamp. The difference" << endl
         << " is nearly zero the whole time because every second we set back the" << endl
         << " to our calculated next time value. In theory the difference is constant" << endl
         << " and zero. In reality we have some Jitter effects and uncertainties of the" << endl
         << " pulse generator." << endl << endl;
 
    try
    {
        DigitalIOControl dioc( pDev );
        EventControl evc( pDev );
        DeviceControl dc( pDev );
        TransportLayerControl tlc( pDev );
        AcquisitionControl acqc( pDev );
 
        if( evc.eventLine4RisingEdge.isValid() == false || dc.mvTimestampResetValue.isValid() == false ||
            tlc.gevTimestampTickFrequency.isValid() == false || acqc.triggerSelector.isValid() == false ||
            acqc.triggerMode.isValid() == false || acqc.triggerSource.isValid() == false )
        {
            cout << " A required Property for this example is not provided by the camera" << endl;
            return;
        }
 
        // get system clock and time stamp tick value
        unsigned long long unixTimeSystem = static_cast<unsigned long long>( std::chrono::duration_cast<std::chrono::seconds>( chrono::system_clock::now().time_since_epoch() ).count() );
        unsigned long long gevsTimeTickFrequencyValue = static_cast<unsigned long long>( tlc.gevTimestampTickFrequency.read() );
        //increment next clock for setting the cameras timer properly
        unsigned long long cameraTimeSystem = ( unixTimeSystem + 1 ) * gevsTimeTickFrequencyValue;
        // set cameras next clock value
        dc.mvTimestampResetValue.write( static_cast<int64_type>( cameraTimeSystem ) );
 
        // enable event input line 4 on rising edge
        // and enable time stamp reset on this line as well
        evc.eventSelector.writeS( "Line4RisingEdge" );
        evc.eventNotification.writeS( "On" );
        acqc.triggerSelector.writeS( "mvTimestampReset" );
        acqc.triggerMode.writeS( "On" );
        acqc.triggerSource.writeS( "Line4" );
 
        // print out the timestamps and the difference to the last and set new time stamp reset value for
        // next pulse signal
        for( int i = 0; i < s_TEST_TIME_LOOP_COUNTER; i++ )
        {
            this_thread::sleep_for( chrono::milliseconds( s_TIME_STEP_WIDTH_MS ) );
            static unsigned long long s_lastVal = 0;
            unsigned long long newVal = static_cast<unsigned long long>( evc.eventLine4RisingEdgeTimestamp.read() );
            if( s_lastVal != newVal )
            {
                if( s_lastVal != 0 )
                {
                    // get system clock and time stamp tick value
                    unixTimeSystem = static_cast<unsigned long long>( std::chrono::duration_cast<std::chrono::seconds>( chrono::system_clock::now().time_since_epoch() ).count() );
                    //increment next clock for setting the cameras timer properly
                    cameraTimeSystem = ( unixTimeSystem + 1 ) * gevsTimeTickFrequencyValue;
                    // set cameras next clock value
                    dc.mvTimestampResetValue.write( static_cast<int64_type>( cameraTimeSystem ) );
 
                    double difference = ( ( static_cast<double>( newVal ) - static_cast<double>( s_lastVal ) ) / static_cast<double>( gevsTimeTickFrequencyValue ) - 1.0 ) * 1000000.0;
                    cout << "got time stamp " << printHumanReadableUnixTime( newVal ) << " ( " << newVal << " ) " << " difference from 1s is:" << difference << "us" << endl;
                }
 
                s_lastVal = newVal;
            }
        }
 
        dc.mvTimestampResetValue.write( static_cast<int64_type>( 0 ) );
        acqc.triggerSelector.writeS( "mvTimestampReset" );
        acqc.triggerMode.writeS( "Off" );
    }
    catch( const ImpactAcquireException& e )
    {
        cout << endl;
        cout << " An " << PRODUCT_NAME << " exception occurred:" << e.getErrorCodeAsString() << endl;
        cout << endl;
    }
}
 
//-----------------------------------------------------------------------------
void printNotSupported( Device* pDev )
//-----------------------------------------------------------------------------
{
    cout << "Device " << pDev->serial.read() << "(" << pDev->product << ") is not supported by this sample" << endl;
    cout << "Press [ENTER] to end the application" << endl;
    cin.get();
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    DeviceManager devMgr;
    TTimestampTestMode selection = getSynchronizationModeFromUser();
    if( selection == ttmNone )
    {
        cout << "Press [ENTER] to end the application" << endl;
        cin.get();
        return 0;
    }
 
    cout << "Please select the camera you want to use:" << endl;
    Device* pDev0 = getDeviceFromUserInput( devMgr );
    Device* pDev1 = nullptr;
    if( pDev0 == nullptr )
    {
        cout << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    if( !pDev0->interfaceLayout.isValid() || ( pDev0->interfaceLayout.read() != dilGenICam ) )
    {
        printNotSupported( pDev0 );
        return 1;
    }
 
    // if this device offers the 'GenICam' interface switch it on, as this will
    // allow are better control over GenICam compliant devices
    conditionalSetProperty( pDev0->interfaceLayout, dilGenICam );
    // if this device offers a user defined acquisition start/stop behaviour
    // enable it as this allows finer control about the streaming behaviour
    conditionalSetProperty( pDev0->acquisitionStartStopBehaviour, assbUser );
    pDev0->open();
 
    if( testModeRequiresSecondCamera( selection ) )
    {
        cout << "This mode requires a second camera." << endl;
        cout << "Please select the camera you want to use:" << endl;
        pDev1 = getDeviceFromUserInput( devMgr );
        if( pDev1 == nullptr )
        {
            cout << "Unable to continue! Press [ENTER] to end the application" << endl;
            cin.get();
            return 1;
        }
 
        if( !pDev1->interfaceLayout.isValid() || ( pDev1->interfaceLayout.read() != dilGenICam ) )
        {
            printNotSupported( pDev0 );
            return 1;
        }
 
        if( pDev0->serial.readS().compare( pDev1->serial.readS() ) == 0 )
        {
            cout << "Its not allowed to use the same device as second device! Press [ENTER] to end the application" << endl;
            cin.get();
            return 1;
        }
 
        // if this device offers the 'GenICam' interface switch it on, as this will
        // allow are better control over GenICam compliant devices
        conditionalSetProperty( pDev1->interfaceLayout, dilGenICam );
        // if this device offers a user defined acquisition start/stop behaviour
        // enable it as this allows finer control about the streaming behaviour
        conditionalSetProperty( pDev1->acquisitionStartStopBehaviour, assbUser );
        pDev1->open();
    }
 
    switch( selection )
    {
    case TTimestampTestMode::ttmPPSWithIOLine:
        PulsePerSecond( pDev0, false );
        break;
    case TTimestampTestMode::ttmPPSWithIOLineAndOffset:
        PulsePerSecond( pDev0, true );
        break;
    case TTimestampTestMode::ttmPreLoadEverySecond:
        PreLoadSecond( pDev0 );
        break;
    case TTimestampTestMode::ttmPTPWithTwoCams:
        PTPWithTwoCams( pDev0, pDev1 );
        break;
    default:
        cout << "Invalid selection" << endl;
        break;
    }
 
    cout << "Press [ENTER] to end the application" << endl;
    cin.get();
    return 0;
}