rslidar_driver::InputPCAP Class Reference

rslidar input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for rslidar_driver::InputPCAP:

Public Member Functions
virtual int	getPacket (rslidar_msgs::rslidarPacket *pkt, const double time_offset)
	Get one rslidar packet. More...
	InputPCAP (ros::NodeHandle private_nh, uint16_t port=MSOP_DATA_PORT_NUMBER, double packet_rate=0.0, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
	constructor More...
virtual	~InputPCAP ()
Public Member Functions inherited from rslidar_driver::Input
	Input (ros::NodeHandle private_nh, uint16_t port)
	constructor More...
virtual	~Input ()

Private Attributes
bool	empty_
char	errbuf_ [PCAP_ERRBUF_SIZE]
std::string	filename_
ros::Rate	packet_rate_
pcap_t *	pcap_
bpf_program	pcap_packet_filter_
bool	read_fast_
bool	read_once_
double	repeat_delay_

Additional Inherited Members
Protected Attributes inherited from rslidar_driver::Input
std::string	devip_str_
uint16_t	port_
ros::NodeHandle	private_nh_

Detailed Description

rslidar input from PCAP dump file.

Dump files can be grabbed by libpcap

Definition at line 135 of file input.h.

Constructor & Destructor Documentation

rslidar_driver::InputPCAP::InputPCAP	(	ros::NodeHandle	private_nh,
		uint16_t	port = MSOP_DATA_PORT_NUMBER,
		double	packet_rate = 0.0,
		std::string	filename = "",
		bool	read_once = false,
		bool	read_fast = false,
		double	repeat_delay = 0.0
	)

constructor

Parameters

private_nh	ROS private handle for calling node.
port	UDP port number
packet_rate	expected device packet frequency (Hz)
filename	PCAP dump file name

Definition at line 228 of file input.cc.

rslidar_driver::InputPCAP::~InputPCAP ( void  )

virtual

destructor

Definition at line 266 of file input.cc.

Member Function Documentation

int rslidar_driver::InputPCAP::getPacket ( rslidar_msgs::rslidarPacket *  pkt, const double  time_offset  )

virtual

Get one rslidar packet.

Implements rslidar_driver::Input.

Definition at line 272 of file input.cc.

Member Data Documentation

bool rslidar_driver::InputPCAP::empty_

private

Definition at line 151 of file input.h.

char rslidar_driver::InputPCAP::errbuf_[PCAP_ERRBUF_SIZE]

private

Definition at line 150 of file input.h.

std::string rslidar_driver::InputPCAP::filename_

private

Definition at line 147 of file input.h.

ros::Rate rslidar_driver::InputPCAP::packet_rate_

private

Definition at line 146 of file input.h.

pcap_t* rslidar_driver::InputPCAP::pcap_

private

Definition at line 148 of file input.h.

bpf_program rslidar_driver::InputPCAP::pcap_packet_filter_

private

Definition at line 149 of file input.h.

bool rslidar_driver::InputPCAP::read_fast_

private

Definition at line 153 of file input.h.

bool rslidar_driver::InputPCAP::read_once_

private

Definition at line 152 of file input.h.

double rslidar_driver::InputPCAP::repeat_delay_

private

Definition at line 154 of file input.h.

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

• input.h
• input.cc