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feat: update the output timing for frame drop notifications

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slz
2026-05-22 16:43:39 +08:00
parent 9b5fa0e14a
commit b77285475b
2 changed files with 17 additions and 7 deletions
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orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
+2
View File
@@ -120,6 +120,7 @@ class FrameTimestampCsvLogger {
int64_t arrival_steady_us, bool publish_expected); int64_t arrival_steady_us, bool publish_expected);
void populatePublishData(StreamState &state, TrackedStream stream, int64_t publish_system_us, void populatePublishData(StreamState &state, TrackedStream stream, int64_t publish_system_us,
int64_t publish_steady_us); int64_t publish_steady_us);
void reportDropLogFormatOnce();
std::optional<int64_t> updateDelta(std::optional<int64_t> &previous, int64_t current); 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}; std::atomic_bool shutdown_requested_{false};
bool writer_failed_ = false; bool writer_failed_ = false;
bool queue_warning_active_ = false; bool queue_warning_active_ = false;
bool drop_log_format_reported_ = false;
std::string csv_file_path_; std::string csv_file_path_;
std::ofstream csv_stream_; std::ofstream csv_stream_;
std::thread writer_thread_; std::thread writer_thread_;
orbbec_camera/src/frame_timestamp_csv_logger.cpp
+15 -7
View File
@@ -38,13 +38,6 @@ FrameTimestampCsvLogger::FrameTimestampCsvLogger(bool enabled, const std::string
return; 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()) { if (csv_file_path_.empty()) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
"Frame timestamp CSV file is empty; only frame lost logs are enabled."); "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 = const auto lost_frames =
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1); std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
previous.dropped_frames += lost_frames; previous.dropped_frames += lost_frames;
reportDropLogFormatOnce();
RCLCPP_WARN_STREAM( RCLCPP_WARN_STREAM(
logger_, "SDK drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx=" logger_, "SDK drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
<< state.frame_index << " ts=" << state.device_ts_us << "us" << state.frame_index << " ts=" << state.device_ts_us << "us"
@@ -376,6 +370,7 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
const auto lost_frames = const auto lost_frames =
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1); std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
previous.publish_dropped_frames += lost_frames; previous.publish_dropped_frames += lost_frames;
reportDropLogFormatOnce();
RCLCPP_WARN_STREAM( RCLCPP_WARN_STREAM(
logger_, "PUB drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx=" logger_, "PUB drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
<< state.frame_index << " ts=" << state.device_ts_us << "us" << 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; 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, std::optional<int64_t> FrameTimestampCsvLogger::updateDelta(std::optional<int64_t> &previous,
int64_t current) { int64_t current) {
std::optional<int64_t> delta; std::optional<int64_t> delta;