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refactor: centralize timestamp CSV logger management

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slz
2026-08-25 16:11:38 +08:00
parent a5a093fc79
commit 09990b6bf1
5 changed files with 312 additions and 152 deletions
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orbbec_camera/src/ob_camera_node.cpp
+42 -144
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@@ -738,54 +738,19 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
setupTopics();
if (enable_frame_drop_log_ || !frame_timestamp_csv_file_.empty()) {
if (enable_frame_sync_ && (enable_stream_[COLOR] || enable_stream_[DEPTH])) {
frame_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
enable_frame_drop_log_, frame_timestamp_csv_file_,
FrameTimestampCsvLogger::OutputMode::SYNCED, logger_);
if (!frame_timestamp_csv_logger_->enabled()) {
frame_timestamp_csv_logger_.reset();
}
} else {
if (enable_stream_[COLOR]) {
color_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
enable_frame_drop_log_, frame_timestamp_csv_file_,
FrameTimestampCsvLogger::OutputMode::COLOR, logger_);
if (!color_timestamp_csv_logger_->enabled()) {
color_timestamp_csv_logger_.reset();
}
}
if (enable_stream_[DEPTH]) {
depth_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
enable_frame_drop_log_, frame_timestamp_csv_file_,
FrameTimestampCsvLogger::OutputMode::DEPTH, logger_);
if (!depth_timestamp_csv_logger_->enabled()) {
depth_timestamp_csv_logger_.reset();
}
}
}
if (!frame_timestamp_csv_file_.empty() && (enable_stream_[ACCEL] || enable_stream_[GYRO])) {
if (enable_sync_output_accel_gyro_) {
imu_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::SYNCED, logger_);
if (!imu_timestamp_csv_logger_->enabled()) {
imu_timestamp_csv_logger_.reset();
}
} else {
if (enable_stream_[ACCEL]) {
accel_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::ACCEL, logger_);
if (!accel_timestamp_csv_logger_->enabled()) {
accel_timestamp_csv_logger_.reset();
}
}
if (enable_stream_[GYRO]) {
gyro_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::GYRO, logger_);
if (!gyro_timestamp_csv_logger_->enabled()) {
gyro_timestamp_csv_logger_.reset();
}
}
}
TimestampCsvLogger::Config timestamp_config;
timestamp_config.frame_drop_log_enabled = enable_frame_drop_log_;
timestamp_config.csv_file_path = frame_timestamp_csv_file_;
timestamp_config.frame_sync_enabled = enable_frame_sync_;
timestamp_config.color_enabled = enable_stream_[COLOR];
timestamp_config.depth_enabled = enable_stream_[DEPTH];
timestamp_config.imu_sync_enabled = enable_sync_output_accel_gyro_;
timestamp_config.accel_enabled = enable_stream_[ACCEL];
timestamp_config.gyro_enabled = enable_stream_[GYRO];
timestamp_csv_logger_ =
std::make_unique<TimestampCsvLogger>(std::move(timestamp_config), logger_);
if (!timestamp_csv_logger_->enabled()) {
timestamp_csv_logger_.reset();
}
}
@@ -855,53 +820,9 @@ void OBCameraNode::clean() noexcept {
is_running_.store(false);
is_camera_node_initialized_.store(false);
try {
if (frame_timestamp_csv_logger_) {
frame_timestamp_csv_logger_->shutdown();
frame_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down frame timestamp CSV logger");
}
try {
if (color_timestamp_csv_logger_) {
color_timestamp_csv_logger_->shutdown();
color_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down color timestamp CSV logger");
}
try {
if (depth_timestamp_csv_logger_) {
depth_timestamp_csv_logger_->shutdown();
depth_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down depth timestamp CSV logger");
}
try {
if (imu_timestamp_csv_logger_) {
imu_timestamp_csv_logger_->shutdown();
imu_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down IMU timestamp CSV logger");
}
try {
if (accel_timestamp_csv_logger_) {
accel_timestamp_csv_logger_->shutdown();
accel_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down accel timestamp CSV logger");
}
try {
if (gyro_timestamp_csv_logger_) {
gyro_timestamp_csv_logger_->shutdown();
gyro_timestamp_csv_logger_.reset();
}
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down gyro timestamp CSV logger");
if (timestamp_csv_logger_) {
timestamp_csv_logger_->shutdown();
timestamp_csv_logger_.reset();
}
// Stop diagnostic timer and updater first BEFORE acquiring device_lock to prevent deadlock
@@ -4214,13 +4135,13 @@ void OBCameraNode::startIMUSyncStream() {
auto aFrame = frameSet->getFrame(OB_FRAME_ACCEL);
auto gFrame = frameSet->getFrame(OB_FRAME_GYRO);
const bool log_imu_timestamps = is_camera_node_initialized_.load() && rclcpp::ok() &&
imu_timestamp_csv_logger_ &&
imu_timestamp_csv_logger_->enabled();
timestamp_csv_logger_ &&
timestamp_csv_logger_->syncedImuEnabled();
const auto arrival_system_us = log_imu_timestamps ? getSystemNowUs() : 0;
if (aFrame && gFrame) {
onNewIMUFrameSyncOutputCallback(aFrame, gFrame, arrival_system_us);
} else if (log_imu_timestamps && (aFrame || gFrame)) {
imu_timestamp_csv_logger_->recordFrameSet(aFrame, gFrame, arrival_system_us, std::nullopt);
timestamp_csv_logger_->recordSyncedImu(aFrame, gFrame, arrival_system_us, std::nullopt);
}
});
@@ -6192,9 +6113,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (frame_set == nullptr) {
return;
}
if ((frame_timestamp_csv_logger_ && frame_timestamp_csv_logger_->enabled()) ||
(color_timestamp_csv_logger_ && color_timestamp_csv_logger_->enabled()) ||
(depth_timestamp_csv_logger_ && depth_timestamp_csv_logger_->enabled())) {
if (timestamp_csv_logger_ && timestamp_csv_logger_->imageEnabled()) {
const auto frame_set_arrival_system_us = getSystemNowUs();
const auto frame_set_arrival_steady_us = getSteadyNowUs();
auto final_color_frame = frame_set->getFrame(OB_FRAME_COLOR);
@@ -6204,23 +6123,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
const bool color_publish_expected = track_color;
const bool depth_publish_expected = track_depth;
if (frame_timestamp_csv_logger_) {
frame_timestamp_csv_logger_->recordFrameSet(
final_color_frame, final_depth_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
depth_publish_expected);
} else {
if (track_color && color_timestamp_csv_logger_) {
color_timestamp_csv_logger_->recordStandaloneFrameArrival(
OB_STREAM_COLOR, final_color_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, color_publish_expected);
}
if (track_depth && depth_timestamp_csv_logger_) {
depth_timestamp_csv_logger_->recordStandaloneFrameArrival(
OB_STREAM_DEPTH, final_depth_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, depth_publish_expected);
}
}
timestamp_csv_logger_->recordImageFrameSet(
final_color_frame, final_depth_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
depth_publish_expected);
}
try {
@@ -6714,17 +6620,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (frame == nullptr) {
return;
}
FrameTimestampCsvLogger *timestamp_csv_logger = nullptr;
if (stream_index == COLOR) {
timestamp_csv_logger = frame_timestamp_csv_logger_ ? frame_timestamp_csv_logger_.get()
: color_timestamp_csv_logger_.get();
} else if (stream_index == DEPTH) {
timestamp_csv_logger = frame_timestamp_csv_logger_ ? frame_timestamp_csv_logger_.get()
: depth_timestamp_csv_logger_.get();
}
const bool log_image_timestamps =
timestamp_csv_logger_ && timestamp_csv_logger_->imageStreamEnabled(stream_index.first);
const auto record_image_publish_skipped = [&]() {
if (timestamp_csv_logger && timestamp_csv_logger->enabled()) {
timestamp_csv_logger->recordImagePublishSkipped(stream_index.first, frame);
if (log_image_timestamps) {
timestamp_csv_logger_->recordImagePublishSkipped(stream_index.first, frame);
}
};
CHECK_NOTNULL(image_publishers_[stream_index]);
@@ -6841,10 +6741,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
if ((stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
frame->getFormat() == OB_FORMAT_MJPG && has_compressed_image_subscriber) {
if (!has_raw_image_subscriber && stream_index == COLOR && timestamp_csv_logger &&
timestamp_csv_logger->enabled()) {
timestamp_csv_logger->recordPreImagePublish(stream_index.first, frame, getSystemNowUs(),
getSteadyNowUs());
if (!has_raw_image_subscriber && stream_index == COLOR && log_image_timestamps) {
timestamp_csv_logger_->recordImagePrePublish(stream_index.first, frame, getSystemNowUs(),
getSteadyNowUs());
}
publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
if (!has_raw_image_subscriber && stream_index == COLOR) {
@@ -6916,9 +6815,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
record_image_publish_skipped();
return;
}
if (timestamp_csv_logger && timestamp_csv_logger->enabled()) {
timestamp_csv_logger->recordPreImagePublish(stream_index.first, frame, getSystemNowUs(),
getSteadyNowUs());
if (log_image_timestamps) {
timestamp_csv_logger_->recordImagePrePublish(stream_index.first, frame, getSystemNowUs(),
getSteadyNowUs());
}
if (stream_index == COLOR) {
fps_delay_status_color_->tick(frame_timestamp);
@@ -7039,10 +6938,10 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
return;
}
const auto record_timestamps = [&](std::optional<int64_t> publish_system_us) {
if (arrival_system_us != 0 && imu_timestamp_csv_logger_ &&
imu_timestamp_csv_logger_->enabled()) {
imu_timestamp_csv_logger_->recordFrameSet(accelframe, gryoframe, arrival_system_us,
publish_system_us);
if (arrival_system_us != 0 && timestamp_csv_logger_ &&
timestamp_csv_logger_->syncedImuEnabled()) {
timestamp_csv_logger_->recordSyncedImu(accelframe, gryoframe, arrival_system_us,
publish_system_us);
}
};
if (!imu_gyro_accel_publisher_) {
@@ -7098,14 +6997,13 @@ void OBCameraNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &frame
if (!is_camera_node_initialized_.load() || !rclcpp::ok()) {
return;
}
auto *timestamp_csv_logger =
stream_index == ACCEL ? accel_timestamp_csv_logger_.get() : gyro_timestamp_csv_logger_.get();
const bool log_imu_timestamps = timestamp_csv_logger && timestamp_csv_logger->enabled();
const bool log_imu_timestamps =
timestamp_csv_logger_ && timestamp_csv_logger_->standaloneImuEnabled(stream_index.first);
const auto arrival_system_us = log_imu_timestamps ? getSystemNowUs() : 0;
const auto record_timestamps = [&](std::optional<int64_t> publish_system_us) {
if (log_imu_timestamps) {
timestamp_csv_logger->recordStandaloneFrame(stream_index.first, frame, arrival_system_us,
publish_system_us);
timestamp_csv_logger_->recordStandaloneImu(stream_index.first, frame, arrival_system_us,
publish_system_us);
}
};
if (!imu_publishers_.count(stream_index)) {