apollo::drivers::lslidar::driver::InputPCAP类 参考

lslidar input from PCAP dump file. 更多...

#include <input.h>

类 apollo::drivers::lslidar::driver::InputPCAP 继承关系图:

apollo::drivers::lslidar::driver::InputPCAP 的协作图:

Public 成员函数
	InputPCAP (uint16_t port=MSOP_DATA_PORT_NUMBER, std::string lidar_ip="192.168.1.200", int packet_size=1212, double packet_rate=0.0, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
virtual	~InputPCAP ()
	destructor
virtual int	GetPacket (LslidarPacket *pkt)
	Get one lslidar packet.
Public 成员函数 继承自 apollo::drivers::lslidar::driver::Input
	Input (uint16_t portport=MSOP_DATA_PORT_NUMBER, std::string lidar_ip="192.168.1.200", int packet_size=1212)
virtual	~Input ()

额外继承的成员函数
Protected 属性 继承自 apollo::drivers::lslidar::driver::Input
int	port_
int	sockfd_
uint64_t	pointcloudTimeStamp
in_addr	devip_
int	packet_size_

详细描述

lslidar input from PCAP dump file.

Dump files can be grabbed by libpcap

在文件 input.h 第 69 行定义.

构造及析构函数说明

InputPCAP()

apollo::drivers::lslidar::driver::InputPCAP::InputPCAP	(	uint16_t	port = MSOP_DATA_PORT_NUMBER,
		std::string	lidar_ip = "192.168.1.200",
		int	packet_size = 1212,
		double	packet_rate = 0.0,
		std::string	filename = "",
		bool	read_once = false,
		bool	read_fast = false,
		double	repeat_delay = 0.0
	)

在文件 input.cc 第 148 行定义.

                             :
        Input(port, lidar_ip, packet_size),
        packet_rate_(packet_rate),
        filename_(filename) {
    pcap_ = NULL;
    empty_ = true;
    packet_rate_ = packet_rate;
    lidar_ip_ = lidar_ip;
    // get parameters using private node handle
    read_once_ = read_once;
    read_fast_ = read_fast;
    repeat_delay_ = repeat_delay;
 
    if (read_once_)
        AINFO << "Read input file only once.";
    if (read_fast_)
        AINFO << "Read input file as quickly as possible.";
    if (repeat_delay_ > 0.0)
        AINFO << "Delay %.3f seconds before repeating input file."
              << repeat_delay_;
 
    // Open the PCAP dump file
    AERROR << "Opening PCAP file " << filename_;
    if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL) {
        AERROR << "Error opening lslidar socket dump file.";
        return;
    }
 
    std::stringstream filter;
    if (lidar_ip != "") {
        filter << "src host " << lidar_ip << " && ";
    }
    filter << "udp dst port " << port;
    pcap_compile(
            pcap_,
            &pcap_packet_filter_,
            filter.str().c_str(),
            1,
            PCAP_NETMASK_UNKNOWN);
}

~InputPCAP()

apollo::drivers::lslidar::driver::InputPCAP::~InputPCAP ( void  )

virtual

destructor

在文件 input.cc 第 198 行定义.

                          {
    pcap_close(pcap_);
}

成员函数说明

GetPacket()

int apollo::drivers::lslidar::driver::InputPCAP::GetPacket ( LslidarPacket *  pkt )

virtual

Get one lslidar packet.

重载 apollo::drivers::lslidar::driver::Input .

在文件 input.cc 第 203 行定义.

                                           {
    struct pcap_pkthdr *header;
    const u_char *pkt_data;
 
    // while (flag == 1)
    while (!apollo::cyber::IsShutdown()) {
        int res;
        if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) {
            // Skip packets not for the correct port and from the
            // selected IP address.
            if (!lidar_ip_.empty()
                && (0
                    == pcap_offline_filter(
                            &pcap_packet_filter_, header, pkt_data)))
                continue;
 
            // Keep the reader from blowing through the file.
            if (read_fast_ == false)
                usleep(static_cast<int>(1000 * 1000 / packet_rate_ / 1.1));
            if (1206 == packet_size_) {
                uint8_t bytes[1206];
                memcpy(bytes, pkt_data + 42, packet_size_);
                pkt->set_data(bytes, packet_size_);
            } else if (1212 == packet_size_) {
                uint8_t bytes[1212];
                memcpy(bytes, pkt_data + 42, packet_size_);
                pkt->set_data(bytes, packet_size_);
            }
 
            empty_ = false;
            return 0;  // success
        }
 
        if (empty_) {
            AINFO << "Error " << res
                  << " reading lslidar packet: " << pcap_geterr(pcap_);
            return -1;
        }
 
        if (read_once_) {
            AINFO << "end of file reached -- done reading.";
            return -1;
        }
 
        if (repeat_delay_ > 0.0) {
            AINFO << "end of file reached -- delaying" << repeat_delay_
                  << "seconds.";
            usleep(rint(repeat_delay_ * 1000000.0));
        }
 
        AINFO << "replaying lslidar dump file";
 
        // I can't figure out how to rewind the file, because it
        // starts with some kind of header.  So, close the file
        // and reopen it with pcap.
        pcap_close(pcap_);
        pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);
        empty_ = true;  // maybe the file disappeared?
    }                   // loop back and try again
    return 0;
}

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该类的文档由以下文件生成:

• modules/drivers/lidar/lslidar/driver/input.h
• modules/drivers/lidar/lslidar/driver/input.cc