O3M151 input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for o3m151_driver::InputPCAP:

Public Member Functions
virtual int	getPacket (pcl::PointCloud< pcl::PointXYZI > &pc)
	Get one o3m151 packet. More...

	InputPCAP (ros::NodeHandle private_nh, double packet_rate, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
	constructor More...

	~InputPCAP ()

Public Member Functions inherited from o3m151_driver::Input
	Input ()

Private Attributes
bool	empty_

char	errbuf_ [PCAP_ERRBUF_SIZE]

std::string	filename_

FILE *	fp_

ros::Rate	packet_rate_

pcap_t *	pcap_

bool	read_fast_

bool	read_once_

double	repeat_delay_

Additional Inherited Members
Protected Member Functions inherited from o3m151_driver::Input
int	process (int8_t *udpPacketBuf, const ssize_t rc, pcl::PointCloud< pcl::PointXYZI > &pc)

void	processChannel8 (int8_t *buf, uint32_t size, pcl::PointCloud< pcl::PointXYZI > &pc)

int	processPacket (int8_t currentPacketData, uint32_t currentPacketSize, int8_t channelBuffer, uint32_t channelBufferSize, uint32_t *pos)

double	slope (const std::vector< double > &x, const std::vector< double > &y)

Protected Attributes inherited from o3m151_driver::Input
uint32_t	channel_buf_size_

int8_t *	channelBuf

uint32_t	pos_in_channel_

uint32_t	previous_packet_counter_

bool	previous_packet_counter_valid_

bool	startOfChannelFound_

Detailed Description

O3M151 input from PCAP dump file.

Dump files can be grabbed by libpcap, ethereal, wireshark, tcpdump, or the Vdump Command.

Definition at line 104 of file input.h.

Constructor & Destructor Documentation

o3m151_driver::InputPCAP::InputPCAP	(	ros::NodeHandle	private_nh,
		double	packet_rate,
		std::string	filename = `""`,
		bool	read_once = `false`,
		bool	read_fast = `false`,
		double	repeat_delay = `0.0`
	)

constructor

Parameters

private_nh	private node handle for driver
packet_rate	expected device packet frequency (Hz)
filename	PCAP dump file name
read_once	read PCAP in a loop, unless false
read_fast	read PCAP at device rate, unless false
repeat_delay	time to wait before repeating PCAP data

Definition at line 425 of file input.cc.

o3m151_driver::InputPCAP::~InputPCAP ( void )

destructor

Definition at line 463 of file input.cc.

Member Function Documentation

int o3m151_driver::InputPCAP::getPacket ( pcl::PointCloud< pcl::PointXYZI > & pc )

virtual

Get one o3m151 packet.

Implements o3m151_driver::Input.

Definition at line 470 of file input.cc.

Member Data Documentation

bool o3m151_driver::InputPCAP::empty_

private

Definition at line 123 of file input.h.

char o3m151_driver::InputPCAP::errbuf_[PCAP_ERRBUF_SIZE]

private

Definition at line 122 of file input.h.

std::string o3m151_driver::InputPCAP::filename_

private

Definition at line 119 of file input.h.

FILE* o3m151_driver::InputPCAP::fp_

private

Definition at line 120 of file input.h.

ros::Rate o3m151_driver::InputPCAP::packet_rate_

private

Definition at line 127 of file input.h.

pcap_t* o3m151_driver::InputPCAP::pcap_

private

Definition at line 121 of file input.h.

bool o3m151_driver::InputPCAP::read_fast_

private

Definition at line 125 of file input.h.

bool o3m151_driver::InputPCAP::read_once_

private

Definition at line 124 of file input.h.

double o3m151_driver::InputPCAP::repeat_delay_

private

Definition at line 126 of file input.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation