mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
88 lines
2.9 KiB
C++
88 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "dump_pgm.h"
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#include <string.h>
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#include <sys/fcntl.h>
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#include <sys/stat.h>
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#include <px4_platform_common/posix.h>
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#define HRES_STR "320"
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#define VRES_STR "240"
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char pgm_header[] = "P5\n#99999999999999 usec \n" HRES_STR " " VRES_STR "\n255\n";
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char pgm_dumpname[] = "image";
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char pgm_path[] = "/home/root/images/";
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void dump_pgm(const void *data, uint32_t size, uint32_t seq, uint32_t timestamp)
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{
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// Check if dump directory exists
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struct stat sb = {};
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if (!(stat(pgm_path, &sb) == 0 && S_ISDIR(sb.st_mode))) {
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PX4_ERR("Dump directory does not exist: %s", pgm_path);
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PX4_ERR("No images are written!");
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return;
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}
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// Construct the absolute filename
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char file_path[100] = {0};
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snprintf(file_path, sizeof(file_path), "%s%s%08u.pgm", pgm_path, pgm_dumpname, seq);
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PX4_INFO("%s", file_path);
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int fd = open(file_path, O_WRONLY | O_NONBLOCK | O_CREAT, 00666);
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if (fd < 0) {
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PX4_ERR("Dump: Unable to open file");
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return;
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}
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// Write pgm header
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snprintf(&pgm_header[4], 15, "%014d", (int)timestamp);
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size_t written = write(fd, pgm_header, sizeof(pgm_header));
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// Write image data
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size_t total = 0;
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do {
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written = write(fd, data, size);
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total += written;
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} while (total < size);
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PX4_INFO("Wrote %d bytes\n", total);
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close(fd);
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}
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