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feat: rotate frame timestamp CSV files

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slz
2026-08-11 10:29:35 +08:00
parent 8679784600
commit 7c5e26f13b
2 changed files with 84 additions and 13 deletions
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orbbec_camera/src/frame_timestamp_csv_logger.cpp
+77 -11
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@@ -12,6 +12,8 @@ namespace {
constexpr size_t kCompletedQueueSoftLimit = 1000;
constexpr size_t kFlushBatchSize = 100;
// The header occupies the first row, leaving 1,024,575 rows for frame data.
constexpr uint64_t kMaxCsvRowsPerFileIncludingHeader = 1'024'576;
constexpr auto kFlushInterval = std::chrono::seconds(1);
int64_t getExpectedIntervalUs(const std::shared_ptr<ob::Frame> &frame) {
@@ -58,7 +60,10 @@ FrameTimestampCsvLogger::FrameTimestampCsvLogger(bool drop_log_enabled,
}
if (csv_enabled_) {
openCsvIfNeeded();
if (!openCsvFile(0)) {
csv_enabled_ = false;
csv_writer_failed_ = true;
}
}
enabled_ = csv_enabled_ || drop_log_enabled_;
@@ -568,10 +573,33 @@ void FrameTimestampCsvLogger::writerThreadMain() {
}
for (const auto &row : rows_to_write) {
if (csv_stream_.is_open()) {
csv_stream_ << serializeRow(row) << "\n";
rows_since_flush++;
if (csv_rows_written_ >= kMaxCsvRowsPerFileIncludingHeader) {
if (!rotateCsvFile()) {
csv_writer_failed_ = true;
break;
}
rows_since_flush = 0;
last_flush = std::chrono::steady_clock::now();
}
if (!csv_stream_.is_open()) {
csv_writer_failed_ = true;
break;
}
csv_stream_ << serializeRow(row) << "\n";
if (!csv_stream_) {
RCLCPP_ERROR_STREAM(logger_, "Failed to write frame timestamp CSV file: "
<< csvFilePathForIndex(csv_file_index_));
csv_writer_failed_ = true;
break;
}
++csv_rows_written_;
++rows_since_flush;
}
if (csv_writer_failed_) {
break;
}
const auto now = std::chrono::steady_clock::now();
@@ -589,16 +617,54 @@ void FrameTimestampCsvLogger::writerThreadMain() {
}
}
void FrameTimestampCsvLogger::openCsvIfNeeded() {
csv_stream_.open(csv_file_path_, std::ios::out | std::ios::trunc);
if (!csv_stream_.is_open()) {
RCLCPP_ERROR_STREAM(logger_, "Failed to open frame timestamp CSV file: " << csv_file_path_);
csv_enabled_ = false;
csv_writer_failed_ = true;
return;
std::string FrameTimestampCsvLogger::csvFilePathForIndex(uint64_t file_index) const {
if (file_index == 0) {
return csv_file_path_;
}
const std::filesystem::path original_path(csv_file_path_);
const auto indexed_filename = original_path.stem().string() + "_" + std::to_string(file_index) +
original_path.extension().string();
return (original_path.parent_path() / indexed_filename).string();
}
bool FrameTimestampCsvLogger::openCsvFile(uint64_t file_index) {
const auto file_path = csvFilePathForIndex(file_index);
csv_stream_.clear();
csv_stream_.open(file_path, std::ios::out | std::ios::trunc);
if (!csv_stream_.is_open()) {
RCLCPP_ERROR_STREAM(logger_, "Failed to open frame timestamp CSV file: " << file_path);
return false;
}
csv_stream_ << csvHeader() << "\n";
csv_stream_.flush();
if (!csv_stream_) {
RCLCPP_ERROR_STREAM(logger_, "Failed to write frame timestamp CSV header: " << file_path);
csv_stream_.close();
return false;
}
csv_file_index_ = file_index;
csv_rows_written_ = 1;
return true;
}
bool FrameTimestampCsvLogger::rotateCsvFile() {
if (csv_stream_.is_open()) {
csv_stream_.flush();
csv_stream_.close();
}
const auto next_file_index = csv_file_index_ + 1;
if (!openCsvFile(next_file_index)) {
return false;
}
RCLCPP_INFO_STREAM(logger_, "Frame timestamp CSV reached "
<< kMaxCsvRowsPerFileIncludingHeader << " rows; continuing in "
<< csvFilePathForIndex(csv_file_index_));
return true;
}
} // namespace orbbec_camera