mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
24d20f89c4
- Replace tabs with spaces - Sort includes - No need to ifdef Linux inside AP_HAL_Linux - Use early returns on error rather than a chain o if/else - Use pragma once - No need to initialize class members to 0, it's already our default behavior
52 lines
1.4 KiB
C++
52 lines
1.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "CameraSensor.h"
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#include <errno.h>
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#include <fcntl.h>
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#include <linux/v4l2-subdev.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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using namespace Linux;
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bool CameraSensor::set_format(uint32_t width, uint32_t height, uint32_t format)
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{
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struct v4l2_subdev_format fmt;
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int ret, fd;
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fd = open(_device_path, O_RDWR);
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if (fd < 0) {
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return false;
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}
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memset(&fmt, 0, sizeof(fmt));
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fmt.pad = 0;
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fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
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fmt.format.width = width;
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fmt.format.height = height;
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fmt.format.code = format;
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ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
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if (ret < 0) {
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return false;
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}
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return true;
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}
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