From b77285475b0866ae708c9166b6cd9f5b8d2a8a1f Mon Sep 17 00:00:00 2001
From: slz <shenlanzhou@orbbec.com>
Date: Thu, 21 May 2026 16:55:36 +0800
Subject: [PATCH] feat: update the output timing for frame drop notifications

---
 .../frame_timestamp_csv_logger.h              |  2 ++
 .../src/frame_timestamp_csv_logger.cpp        | 22 +++++++++++++------
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h b/orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
index 5ede4045..dfeb1a9c 100644
--- a/orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
+++ b/orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
@@ -120,6 +120,7 @@ class FrameTimestampCsvLogger {
                            int64_t arrival_steady_us, bool publish_expected);
   void populatePublishData(StreamState &state, TrackedStream stream, int64_t publish_system_us,
                            int64_t publish_steady_us);
+  void reportDropLogFormatOnce();
 
   std::optional<int64_t> updateDelta(std::optional<int64_t> &previous, int64_t current);
 
@@ -143,6 +144,7 @@ class FrameTimestampCsvLogger {
   std::atomic_bool shutdown_requested_{false};
   bool writer_failed_ = false;
   bool queue_warning_active_ = false;
+  bool drop_log_format_reported_ = false;
   std::string csv_file_path_;
   std::ofstream csv_stream_;
   std::thread writer_thread_;
diff --git a/orbbec_camera/src/frame_timestamp_csv_logger.cpp b/orbbec_camera/src/frame_timestamp_csv_logger.cpp
index 03ca0132..e628c5ab 100644
--- a/orbbec_camera/src/frame_timestamp_csv_logger.cpp
+++ b/orbbec_camera/src/frame_timestamp_csv_logger.cpp
@@ -38,13 +38,6 @@ FrameTimestampCsvLogger::FrameTimestampCsvLogger(bool enabled, const std::string
     return;
   }
 
-  RCLCPP_INFO_STREAM(
-      logger_,
-      "Frame drop log enabled. Format: <SDK|PUB> drop <color|depth>: idx=<frame_index> "
-      "ts=<device_timestamp_us> gap=<actual_interval_ms> ideal=<expected_interval_ms> "
-      "total=<total_dropped_frames>. SDK means frame arrival from SDK; PUB means before ROS "
-      "image publish.");
-
   if (csv_file_path_.empty()) {
     RCLCPP_INFO_STREAM(logger_,
                        "Frame timestamp CSV file is empty; only frame lost logs are enabled.");
@@ -324,6 +317,7 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
       const auto lost_frames =
           std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
       previous.dropped_frames += lost_frames;
+      reportDropLogFormatOnce();
       RCLCPP_WARN_STREAM(
           logger_, "SDK drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
                                << state.frame_index << " ts=" << state.device_ts_us << "us"
@@ -376,6 +370,7 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
       const auto lost_frames =
           std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
       previous.publish_dropped_frames += lost_frames;
+      reportDropLogFormatOnce();
       RCLCPP_WARN_STREAM(
           logger_, "PUB drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
                                << state.frame_index << " ts=" << state.device_ts_us << "us"
@@ -396,6 +391,19 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
   state.arrival_to_publish_steady_us = state.publish_steady_us.value() - state.arrival_steady_us;
 }
 
+void FrameTimestampCsvLogger::reportDropLogFormatOnce() {
+  if (drop_log_format_reported_) {
+    return;
+  }
+  drop_log_format_reported_ = true;
+  RCLCPP_INFO_STREAM(
+      logger_,
+      "Frame drop log enabled. Format: <SDK|PUB> drop <color|depth>: idx=<frame_index> "
+      "ts=<device_timestamp_us> gap=<actual_interval_ms> ideal=<expected_interval_ms> "
+      "total=<total_dropped_frames>. SDK means frame arrival from SDK; PUB means before ROS "
+      "image publish.");
+}
+
 std::optional<int64_t> FrameTimestampCsvLogger::updateDelta(std::optional<int64_t> &previous,
                                                             int64_t current) {
   std::optional<int64_t> delta;