25#include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
32static const size_t FIRING_DATA_PACKET_SIZE = 1212;
33static uint16_t MSOP_DATA_PORT_NUMBER
38 Input(uint16_t portport = MSOP_DATA_PORT_NUMBER,
39 std::string lidar_ip =
"192.168.1.200",
40 int packet_size = 1212);
56 uint16_t port = MSOP_DATA_PORT_NUMBER,
57 std::string lidar_ip =
"192.168.1.200",
58 int packet_size = 1212);
72 uint16_t port = MSOP_DATA_PORT_NUMBER,
73 std::string lidar_ip =
"192.168.1.200",
74 int packet_size = 1212,
75 double packet_rate = 0.0,
76 std::string filename =
"",
77 bool read_once =
false,
78 bool read_fast =
false,
79 double repeat_delay = 0.0);
87 std::string filename_;
89 bpf_program pcap_packet_filter_;
90 char errbuf_[PCAP_ERRBUF_SIZE];
95 std::string lidar_ip_;