Laurent Eschenauer
131 linhas
4.1 KiB
JavaScript
131 linhas
4.1 KiB
JavaScript
var fs = require('fs');
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var path = require('path');
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var df = require('dateformat');
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var PaVEParser = require('ar-drone/lib/video/PaVEParser')
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var client
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, io
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, config
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, navStream
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, motionStream
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, videoStream
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, paveStream
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, recording = false
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;
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function blackbox(name, deps) {
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client = deps.client;
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io = deps.io;
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config = deps.config;
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// Listen to user actions to start/stop recording
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deps.io.sockets.on('connection', function (socket) {
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socket.on('/blackbox/start', function (cmd) {
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_start();
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});
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socket.on('/blackbox/stop', function (cmd) {
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_stop();
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});
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});
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// Listen to navdata and process them
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deps.client.on('navdata', function(data) {
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_writeNavData(data);
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});
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// Process the videostream
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var parser = new PaVEParser();
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parser.on('data', function(data) {
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_writeVideo(data);
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})
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client.getVideoStream().pipe(parser);
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};
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function _start() {
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if (recording) return;
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console.log("Start recording navigation data");
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if (config && config.blackbox && config.blackbox.path) {
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var root = config.blackbox.path;
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} else {
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var root = ".";
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}
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var folder = df(new Date(), "yyyy-mm-dd_hh-MM-ss");
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fs.mkdir(path.join(root, folder), function() {
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navStream = fs.createWriteStream(path.join(root, folder, 'navdata.txt'));
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videoStream = fs.createWriteStream(path.join(root, folder, 'video.h264'));
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paveStream = fs.createWriteStream(path.join(root, folder, 'paveHeaders.txt'));
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motionStream = fs.createWriteStream(path.join(root, folder, 'motion.txt'));
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motionStream.write("seq,pitch,roll,yaw,xVelocity,yVelocity,zVelocity,altitude\n", function() {
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recording = true;
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io.sockets.emit('/message', "Blackbox started recording NavData.");
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});
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});
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}
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function _stop() {
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if (!recording) return;
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console.log("Stopped recording navigation data");
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recording = false;
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navStream.end();
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motionStream.end();
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paveStream.end();
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videoStream.end();
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io.sockets.emit('/message', "Blackbox stopped recording NavData.");
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}
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function _writeNavData(data) {
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if (!recording) return;
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navStream.write(JSON.stringify(data) + "\n");
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var seq = data.sequenceNumber
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, pitch = data.demo.rotation.pitch
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, roll = data.demo.rotation.roll
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, yaw = data.demo.rotation.yaw
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, vx = data.demo.velocity.x
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, vy = data.demo.velocity.y
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, vz = data.demo.velocity.z
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, z = data.demo.altitude
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;
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motionStream.write(seq + "," + pitch + "," + roll + "," + yaw + "," + vx + "," + vy + "," + vz + "," + z + "\n");
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}
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function _writeVideo(data) {
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if (!recording) return;
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videoStream.write(data.payload);
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var header = {
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signature : data.signature,
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version : data.version,
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video_codec : data.video_codec,
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header_size : data.header_size,
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payload_size : data.payload_size,
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encoded_stream_width : data.encoded_stream_width,
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encoded_stream_height : data.encoded_stream_height,
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display_width : data.display_width,
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display_height : data.display_height,
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frame_number : data.frame_number,
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timestamp : data.timestamp,
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total_chunks : data.total_chunks,
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chunk_index : data.chunk_index,
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frame_type : data.frame_type,
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control : data.control,
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stream_byte_position_lw : data.stream_byte_position_lw,
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stream_byte_position_uw : data.stream_byte_position_uw,
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stream_id : data.stream_id,
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total_slices : data.total_slices,
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slice_index : data.slice_index,
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header1_size : data.header1_size,
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header2_size : data.header2_size,
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advertised_size : data.advertised_size,
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}
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paveStream.write(JSON.stringify(header) + "\n");
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}
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module.exports = blackbox;
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