forked from Archive/PX4-Autopilot
88 lines
2.9 KiB
C++
88 lines
2.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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);
|
|
}
|