Need GetSensorTime API

[bentank]

Required Info
Camera Model	D435
Firmware Version	05.09.14.00
Operating System & Version	Win 10
Platform	PC
SDK Version	2.11.1

This is a follow up to the closed issue in #2188.

Please provide a reasonable response without just closing out the issue.

Thanks!

[dorodnic]

Hi @bentank
Sorry, the original issue should not have been closed. Thanks for raising this up again.
I will check the status and update tomorrow.

[bentank]

@dorodnic, thanks for the update. Please let me know if I can assist with more information regarding the issue and purposed solution. It is greatly appreciated!

[dorodnic]

Hi @bentank

Good news! While there is no such "official" command in firmware, you can read the value off the relevant register directly, and this works on production units (on NDA hardware you could also write registers, but this is blocked on production units for obvious reasons)

Basically, you can use the following code snippet to get current firmware time:

using namespace rs2;

pipeline p;
auto prof = p.start();
auto dev = prof.get_device().as<debug_protocol>();
uint8_t data[]{
    0x14, 00, 0xab, 0xcd, 01, 00, 00, 00, 0x3c, 0x61, 01, 00, 0x40, 0x61, 01, 00, 00, 00, 00, 00, 00, 00, 00, 00
};
std::vector<uint8_t> command(data, data + sizeof(data));
auto res = dev.send_and_receive_raw_data(command);
auto ptr = reinterpret_cast<uint32_t*>(res.data());
auto ts = ptr[1] * 0.001;
std::cout << ts << std::endl;

There is a concern of how much time such query can take. In theory it goes through the entire UVC driver stack, and can be bounced by the firmware several times (because it relies on an asynchronous UVC extension unit), but in practice I'm getting a result within ~1ms. This should be good enough for any practical purpose.

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Closing it for now. Please reopen if the issue was not addressed.

[dorodnic]

@bentank - #3909 is the follow-up on this request, if you are interested.

[dorodnic]

With "Global Time" part of the 2.22 release and working well, I think it's safe to close this one :)