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Thirdparty/Pangolin/include/pangolin/log/packet.h

@@ -0,0 +1,70 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * 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 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,
+ * 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.
+ */
+
+#pragma once
+
+#include <mutex>
+
+#include <pangolin/log/packetstream.h>
+#include <pangolin/log/packetstream_source.h>
+
+namespace pangolin {
+
+// Encapsulate serialized reading of Packet from stream.
+struct Packet
+{
+    Packet(PacketStream& s, std::unique_lock<std::recursive_mutex>&& mutex, std::vector<PacketStreamSource>& srcs);
+    Packet(const Packet&) = delete;
+    Packet(Packet&& o);
+    ~Packet();
+
+    size_t BytesRead() const;
+    int BytesRemaining() const;
+
+    PacketStream& Stream()
+    {
+        return _stream;
+    }
+
+    PacketStreamSourceId src;
+    int64_t time;
+    size_t size;
+    size_t sequence_num;
+    picojson::value meta;
+    std::streampos frame_streampos;
+
+private:
+    void ParsePacketHeader(PacketStream& s, std::vector<PacketStreamSource>& srcs);
+    void ReadRemaining();
+
+    PacketStream& _stream;
+
+    std::unique_lock<std::recursive_mutex> lock;
+
+    std::streampos data_streampos;
+    size_t _data_len;
+};
+
+}

Thirdparty/Pangolin/include/pangolin/log/packetstream.h

@@ -0,0 +1,111 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * 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 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,
+ * 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.
+ */
+
+#pragma once
+
+#include <fstream>
+
+#include <pangolin/platform.h>
+
+#include <pangolin/log/packetstream_tags.h>
+#include <pangolin/utils/file_utils.h>
+
+namespace pangolin
+{
+
+class PacketStream: public std::ifstream
+{
+public:
+    PacketStream()
+        : _is_pipe(false)
+    {
+        cclear();
+    }
+
+    PacketStream(const std::string& filename)
+        : Base(filename.c_str(), std::ios::in | std::ios::binary),
+          _is_pipe(IsPipe(filename))
+    {
+        cclear();
+    }
+
+    bool seekable() const
+    {
+        return is_open() && !_is_pipe;
+    }
+
+    void open(const std::string& filename)
+    {
+        close();
+        _is_pipe = IsPipe(filename);
+        Base::open(filename.c_str(), std::ios::in | std::ios::binary);
+    }
+
+    void close()
+    {
+        cclear();
+        if (Base::is_open()) Base::close();
+    }
+
+    void seekg(std::streampos target);
+
+    void seekg(std::streamoff off, std::ios_base::seekdir way);
+
+    std::streampos tellg();
+
+    size_t read(char* target, size_t len);
+
+    char get();
+
+    size_t skip(size_t len);
+
+    size_t readUINT();
+
+    int64_t readTimestamp();
+
+    pangoTagType peekTag();
+
+    pangoTagType readTag();
+
+    pangoTagType readTag(pangoTagType);
+
+    pangoTagType syncToTag();
+
+private:
+    using Base = std::ifstream;
+
+    bool _is_pipe;
+    pangoTagType _tag;
+
+    // Amount of frame data left to read. Tracks our position within a data block.
+
+
+    void cclear() {
+        _tag = 0;
+    }
+};
+
+
+}

Thirdparty/Pangolin/include/pangolin/log/packetstream_reader.h

@@ -0,0 +1,120 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * 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 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,
+ * 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.
+ */
+
+#pragma once
+
+#include <fstream>
+#include <mutex>
+#include <thread>
+
+#include <pangolin/log/packet.h>
+
+#include <pangolin/log/sync_time.h>
+#include <pangolin/utils/file_utils.h>
+#include <pangolin/utils/timer.h>
+
+namespace pangolin
+{
+
+class PANGOLIN_EXPORT PacketStreamReader
+{
+public:
+    PacketStreamReader();
+
+    PacketStreamReader(const std::string& filename);
+
+    ~PacketStreamReader();
+
+    void Open(const std::string& filename);
+
+    void Close();
+
+    const std::vector<PacketStreamSource>&
+    Sources() const
+    {
+        return _sources;
+    }
+
+    // Grab Next available frame packetstream
+    Packet NextFrame();
+
+    // Grab Next available frame in packetstream from src, discarding other frames.
+    Packet NextFrame(PacketStreamSourceId src);
+
+    bool Good() const
+    {
+        return _stream.good();
+    }
+
+    // Jumps to a particular packet.
+    size_t Seek(PacketStreamSourceId src, size_t framenum);
+
+    // Jumps to the first packet with time >= time
+    size_t Seek(PacketStreamSourceId src, SyncTime::TimePoint time);
+
+    void FixFileIndex();
+
+private:
+    bool GoodToRead();
+
+    bool SetupIndex();
+
+    void ParseHeader();
+
+    void ParseNewSource();
+
+    bool ParseIndex();
+
+    void RebuildIndex();
+
+    void AppendIndex();
+
+    std::streampos ParseFooter();
+
+    void SkipSync();
+
+    void ReSync() {
+        _stream.syncToTag();
+    }
+
+    std::string _filename;
+    std::vector<PacketStreamSource> _sources;
+    SyncTime::TimePoint packet_stream_start;
+
+    PacketStream _stream;
+    std::recursive_mutex _mutex;
+
+    bool _is_pipe;
+    int _pipe_fd;
+};
+
+
+
+
+
+
+
+
+}

Thirdparty/Pangolin/include/pangolin/log/packetstream_source.h

@@ -0,0 +1,63 @@
+#pragma once
+
+#include <iostream>
+#include <pangolin/platform.h>
+#include <pangolin/utils/picojson.h>
+
+namespace pangolin {
+
+using PacketStreamSourceId = size_t;
+
+struct PANGOLIN_EXPORT PacketStreamSource
+{
+    struct PacketInfo
+    {
+        std::streampos pos;
+        int64_t capture_time;
+    };
+
+    PacketStreamSource()
+        : id(static_cast<PacketStreamSourceId>(-1)),
+          version(0),
+          data_alignment_bytes(1),
+          data_size_bytes(0),
+          next_packet_id(0)
+    {
+    }
+
+    std::streampos FindSeekLocation(size_t packet_id)
+    {
+        if(packet_id < index.size()) {
+            return index[packet_id].pos;
+        }else{
+            return std::streampos(-1);
+        }
+
+    }
+
+    int64_t NextPacketTime() const
+    {
+        if(next_packet_id < index.size()) {
+            return index[next_packet_id].capture_time;
+        }else{
+            return 0;
+        }
+    }
+
+    std::string     driver;
+    size_t          id;
+    std::string     uri;
+    picojson::value info;
+    int64_t         version;
+    int64_t         data_alignment_bytes;
+    std::string     data_definitions;
+    int64_t         data_size_bytes;
+
+    // Index keyed by packet_id
+    std::vector<PacketInfo> index;
+
+    // Based on current position in stream
+    size_t          next_packet_id;
+};
+
+}

Thirdparty/Pangolin/include/pangolin/log/packetstream_tags.h

@@ -0,0 +1,46 @@
+#pragma once
+
+#include <string>
+
+namespace pangolin {
+
+using pangoTagType = uint32_t;
+
+const static std::string PANGO_MAGIC = "PANGO";
+
+const static std::string pss_src_driver = "driver";
+const static std::string pss_src_id = "id";
+const static std::string pss_src_info = "info";
+const static std::string pss_src_uri = "uri";
+const static std::string pss_src_packet = "packet";
+const static std::string pss_src_version = "version";
+const static std::string pss_pkt_alignment_bytes = "alignment_bytes";
+const static std::string pss_pkt_definitions = "definitions";
+const static std::string pss_pkt_size_bytes = "size_bytes";
+const static std::string pss_pkt_format_written = "format_written";
+
+const unsigned int TAG_LENGTH = 3;
+
+#define PANGO_TAG(a,b,c) ( (c<<16) | (b<<8) | a)
+const uint32_t TAG_PANGO_HDR    = PANGO_TAG('L', 'I', 'N');
+const uint32_t TAG_PANGO_MAGIC  = PANGO_TAG('P', 'A', 'N');
+const uint32_t TAG_PANGO_SYNC   = PANGO_TAG('S', 'Y', 'N');
+const uint32_t TAG_PANGO_STATS  = PANGO_TAG('S', 'T', 'A');
+const uint32_t TAG_PANGO_FOOTER = PANGO_TAG('F', 'T', 'R');
+const uint32_t TAG_ADD_SOURCE   = PANGO_TAG('S', 'R', 'C');
+const uint32_t TAG_SRC_JSON     = PANGO_TAG('J', 'S', 'N');
+const uint32_t TAG_SRC_PACKET   = PANGO_TAG('P', 'K', 'T');
+const uint32_t TAG_END          = PANGO_TAG('E', 'N', 'D');
+#undef PANGO_TAG
+
+inline std::string tagName(int v)
+{
+    char b[4];
+    b[0] = v&0xff;
+    b[1] = (v>>8)&0xff;
+    b[2] = (v>>16)&0xff;
+    b[3] = 0x00;
+    return std::string(b);
+}
+
+}

Thirdparty/Pangolin/include/pangolin/log/packetstream_writer.h

@@ -0,0 +1,173 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * 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 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,
+ * 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.
+ */
+
+#pragma once
+
+#include <ostream>
+
+#include <pangolin/log/packetstream.h>
+#include <pangolin/log/packetstream_source.h>
+#include <pangolin/utils/file_utils.h>
+#include <pangolin/utils/threadedfilebuf.h>
+
+namespace pangolin
+{
+
+class PANGOLIN_EXPORT PacketStreamWriter
+{
+public:
+    PacketStreamWriter()
+        : _stream(&_buffer), _indexable(false), _open(false), _bytes_written(0)
+    {
+        _stream.exceptions(std::ostream::badbit);
+    }
+
+    PacketStreamWriter(const std::string& filename, size_t buffer_size  = 100*1024*1024)
+        : _buffer(pangolin::PathExpand(filename), buffer_size), _stream(&_buffer),
+          _indexable(!IsPipe(filename)), _open(_stream.good()), _bytes_written(0)
+    {
+        _stream.exceptions(std::ostream::badbit);
+        WriteHeader();
+    }
+
+    ~PacketStreamWriter() {
+        Close();
+    }
+
+    void Open(const std::string& filename, size_t buffer_size = 100 * 1024 * 1024)
+    {
+        Close();
+        _buffer.open(filename, buffer_size);
+        _open = _stream.good();
+        _bytes_written = 0;
+        _indexable = !IsPipe(filename);
+        WriteHeader();
+    }
+
+    void Close()
+    {
+        if (_open)
+        {
+            if (_indexable) {
+                WriteEnd();
+            }
+            _buffer.close();
+            _open = false;
+        }
+    }
+
+    // Does not write footer or index.
+    void ForceClose()
+    {
+        if (_open)
+        {
+        _buffer.force_close();
+        Close();
+        }
+    }
+
+
+    // Writes to the stream immediately upon add. Return source id # and writes
+    // source id # to argument struct
+    PacketStreamSourceId AddSource(PacketStreamSource& source);
+
+    // If constructor is called inline
+    PacketStreamSourceId AddSource(const PacketStreamSource& source);
+
+    void WriteSourcePacket(
+        PacketStreamSourceId src, const char* source,const int64_t receive_time_us,
+        size_t sourcelen, const picojson::value& meta = picojson::value()
+    );
+
+    // For stream read/write synchronization. Note that this is NOT the same as
+    // time synchronization on playback of iPacketStreams.
+    void WriteSync();
+
+    // Writes the end of the stream data, including the index. Does NOT close
+    // the underlying ostream.
+    void WriteEnd();
+
+    const std::vector<PacketStreamSource>& Sources() const {
+        return _sources;
+    }
+
+    bool IsOpen() const {
+        return _open;
+    }
+
+private:
+    void WriteHeader();
+    void Write(const PacketStreamSource&);
+    void WriteMeta(PacketStreamSourceId src, const picojson::value& data);
+
+    threadedfilebuf _buffer;
+    std::ostream _stream;
+    bool _indexable, _open;
+
+    std::vector<PacketStreamSource> _sources;
+    size_t _bytes_written;
+    std::recursive_mutex _lock;
+};
+
+inline void writeCompressedUnsignedInt(std::ostream& writer, size_t n)
+{
+    while (n >= 0x80)
+    {
+    writer.put(0x80 | (n & 0x7F));
+    n >>= 7;
+    }
+    writer.put(static_cast<unsigned char>(n));
+}
+
+inline void writeTimestamp(std::ostream& writer, int64_t time_us)
+{
+    writer.write(reinterpret_cast<const char*>(&time_us), sizeof(decltype(time_us)));
+}
+
+inline void writeTag(std::ostream& writer, const pangoTagType tag)
+{
+    writer.write(reinterpret_cast<const char*>(&tag), TAG_LENGTH);
+}
+
+inline picojson::value SourceStats(const std::vector<PacketStreamSource>& srcs)
+{
+    picojson::value stat;
+    stat["num_sources"] = srcs.size();
+    stat["src_packet_index"] = picojson::array();
+    stat["src_packet_times"] = picojson::array();
+
+    for(auto& src : srcs) {
+        picojson::array pkt_index, pkt_times;
+        for (const PacketStreamSource::PacketInfo& frame : src.index) {
+            pkt_index.emplace_back(frame.pos);
+            pkt_times.emplace_back(frame.capture_time);
+        }
+        stat["src_packet_index"].push_back(std::move(pkt_index));
+        stat["src_packet_times"].push_back(std::move(pkt_times));
+    }
+    return stat;
+}
+
+}

Thirdparty/Pangolin/include/pangolin/log/playback_session.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include <pangolin/log/packetstream_reader.h>
+#include <pangolin/utils/file_utils.h>
+#include <pangolin/utils/registration.h>
+
+namespace pangolin {
+
+class Params;
+
+class PlaybackSession
+{
+public:
+    // Singleton Instance
+    static std::shared_ptr<PlaybackSession> Default();
+
+    // Return thread-safe, shared instance of PacketStreamReader, providing
+    // serialised read for PacketStreamReader
+    std::shared_ptr<PacketStreamReader> Open(const std::string& filename)
+    {
+        const std::string path = SanitizePath(PathExpand(filename));
+
+        auto i = readers.find(path);
+        if(i == readers.end()) {
+            auto psr = std::make_shared<PacketStreamReader>(path);
+            readers[path] = psr;
+            return psr;
+        }else{
+            return i->second;
+        }
+    }
+
+    SyncTime& Time()
+    {
+        return time;
+    }
+
+    static std::shared_ptr<PlaybackSession> ChooseFromParams(const Params& params);
+
+private:
+    std::map<std::string,std::shared_ptr<PacketStreamReader>> readers;
+    SyncTime time;
+};
+
+}

Thirdparty/Pangolin/include/pangolin/log/sync_time.h

@@ -0,0 +1,230 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * 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 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,
+ * 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.
+ */
+
+#pragma once
+
+#include <pangolin/platform.h>
+#include <pangolin/utils/signal_slot.h>
+#include <pangolin/utils/timer.h>
+
+#include <atomic>
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+
+namespace pangolin
+{
+
+// Lightweight timestamp class to allow synchronized playback from the same (or a different) stream.
+// All playback functions called with the same SyncTime will be time-synchronized, and will remain synchronized on seek() if the SyncTime is passed in when seeking.
+// Playback with multiple SyncTimes (on the same or different streams) should also be synced, even in different processes or systems (underlying clock sync is not required).
+// However, playback with multiple SyncTimes will break on seek().
+class PANGOLIN_EXPORT SyncTime
+{
+public:
+    using Clock = baseclock;
+    using Duration = Clock::duration;
+    using TimePoint = Clock::time_point;
+
+    struct SeekInterruption: std::runtime_error
+    {
+        SeekInterruption() : std::runtime_error("Time queue invalidated by seek"){}
+    };
+
+    SyncTime(Duration virtual_clock_offset = std::chrono::milliseconds(0))
+        : seeking(false)
+    {
+        SetOffset(virtual_clock_offset);
+    }
+
+    // No copy constructor
+    SyncTime(const SyncTime&) = delete;
+
+    void SetOffset(Duration virtual_clock_offset)
+    {
+        virtual_offset = virtual_clock_offset;
+    }
+
+    void SetClock(TimePoint virtual_now)
+    {
+        virtual_offset = virtual_now - Clock::now();
+    }
+
+    TimePoint TimeNow() const
+    {
+        return Clock::now() + virtual_offset;
+    }
+
+    TimePoint ToVirtual(TimePoint real) const
+    {
+        return real + virtual_offset;
+    }
+
+    TimePoint ToReal(TimePoint virt) const
+    {
+        return virt - virtual_offset;
+    }
+
+    void WaitUntil(TimePoint virtual_time) const
+    {
+        std::this_thread::sleep_until( ToReal(virtual_time) );
+    }
+
+    int64_t QueueEvent(int64_t new_event_time_us)
+    {
+        return WaitDequeueAndQueueEvent(0, new_event_time_us);
+    }
+
+    void DequeueEvent(int64_t event_time_us)
+    {
+        std::unique_lock<std::mutex> l(time_mutex);
+        auto i = std::find(time_queue_us.begin(), time_queue_us.end(), event_time_us);
+        PANGO_ENSURE(i != time_queue_us.end());
+        time_queue_us.erase(i);
+        queue_changed.notify_all();
+    }
+
+    int64_t WaitDequeueAndQueueEvent(int64_t event_time_us, int64_t new_event_time_us =0 )
+    {
+        std::unique_lock<std::mutex> l(time_mutex);
+
+        if(event_time_us) {
+            PANGO_ENSURE(time_queue_us.size());
+
+            // Wait until we're top the priority-queue
+            queue_changed.wait(l, [&](){
+                if(seeking) {
+                    // Time queue will be invalidated on seek.
+                    // Unblock without action
+                    throw SeekInterruption();
+                }
+                return time_queue_us.back() == event_time_us;
+            });
+
+            // Dequeue
+            time_queue_us.pop_back();
+        }
+
+        if(new_event_time_us) {
+            // Add the new event whilst we still hold the lock, so that our
+            // event can't be missed
+            insert_sorted(time_queue_us, new_event_time_us, std::greater<int64_t>());
+
+            if(time_queue_us.back() == new_event_time_us) {
+                // Return to avoid yielding when we're next.
+                return new_event_time_us;
+            }
+        }
+
+        // Only yield if another device is next
+        queue_changed.notify_all();
+        return new_event_time_us;
+    }
+
+    void NotifyAll()
+    {
+        queue_changed.notify_all();
+    }
+
+    std::mutex& TimeMutex()
+    {
+        return time_mutex;
+    }
+
+    void Stop()
+    {
+        seeking = true;
+        OnTimeStop();
+        queue_changed.notify_all();
+    }
+
+    void Start()
+    {
+        OnTimeStart();
+        seeking=false;
+    }
+
+    void Seek(TimePoint t)
+    {
+        Stop();
+        OnSeek(t);
+        Start();
+    }
+
+    Signal<> OnTimeStart;
+
+    Signal<> OnTimeStop;
+
+    Signal<TimePoint> OnSeek;
+
+private:
+    template< typename T, typename Pred >
+    static typename std::vector<T>::iterator
+    insert_sorted( std::vector<T> & vec, T const& item, Pred pred )
+    {
+        return vec.insert (
+           std::upper_bound( vec.begin(), vec.end(), item, pred ), item
+        );
+    }
+
+    std::vector<int64_t> time_queue_us;
+    Duration virtual_offset;
+    std::mutex time_mutex;
+    std::condition_variable queue_changed;
+    bool seeking;
+};
+
+struct SyncTimeEventPromise
+{
+    SyncTimeEventPromise(SyncTime& sync, int64_t time_us = 0)
+        : sync(sync), time_us(time_us)
+    {
+        sync.QueueEvent(time_us);
+    }
+
+    ~SyncTimeEventPromise()
+    {
+        Cancel();
+    }
+
+    void Cancel()
+    {
+        if(time_us) {
+            sync.DequeueEvent(time_us);
+            time_us = 0;
+        }
+    }
+
+    void WaitAndRenew(int64_t new_time_us)
+    {
+        time_us = sync.WaitDequeueAndQueueEvent(time_us, new_time_us);
+    }
+
+private:
+    SyncTime& sync;
+    int64_t time_us;
+};
+
+}