You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
87 lines
2.9 KiB
87 lines
2.9 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name PX4 nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
#include "dump_pgm.h" |
|
|
|
#include <string.h> |
|
#include <sys/fcntl.h> |
|
#include <sys/stat.h> |
|
|
|
#include <px4_posix.h> |
|
|
|
#define HRES_STR "320" |
|
#define VRES_STR "240" |
|
|
|
char pgm_header[] = "P5\n#99999999999999 usec \n" HRES_STR " " VRES_STR "\n255\n"; |
|
char pgm_dumpname[] = "image"; |
|
char pgm_path[] = "/home/root/images/"; |
|
|
|
void dump_pgm(const void *data, uint32_t size, uint32_t seq, uint32_t timestamp) |
|
{ |
|
// Check if dump directory exists |
|
struct stat sb = {}; |
|
|
|
if (!(stat(pgm_path, &sb) == 0 && S_ISDIR(sb.st_mode))) { |
|
PX4_ERR("Dump directory does not exist: %s", pgm_path); |
|
PX4_ERR("No images are written!"); |
|
return; |
|
} |
|
|
|
// Construct the absolute filename |
|
char file_path[100] = {0}; |
|
snprintf(file_path, sizeof(file_path), "%s%s%08u.pgm", pgm_path, pgm_dumpname, seq); |
|
PX4_INFO("%s", file_path); |
|
|
|
int fd = open(file_path, O_WRONLY | O_NONBLOCK | O_CREAT, 00666); |
|
|
|
if (fd < 0) { |
|
PX4_ERR("Dump: Unable to open file"); |
|
return; |
|
} |
|
|
|
// Write pgm header |
|
snprintf(&pgm_header[4], 15, "%014d", (int)timestamp); |
|
size_t written = write(fd, pgm_header, sizeof(pgm_header)); |
|
|
|
// Write image data |
|
size_t total = 0; |
|
|
|
do { |
|
written = write(fd, data, size); |
|
total += written; |
|
} while (total < size); |
|
|
|
PX4_INFO("Wrote %d bytes\n", total); |
|
|
|
close(fd); |
|
}
|
|
|