Program Listing for File input.hpp

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// Copyright 2007, 2009, 2010, 2012, 2015, 2019 Yaxin Liu, Patrick Beeson, Austin Robot Technology, Jack O'Quin, AutonomouStuff  // NOLINT
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#ifndef VELODYNE_DRIVER__INPUT_HPP_
#define VELODYNE_DRIVER__INPUT_HPP_

#include <netinet/in.h>
#include <pcap.h>

#include <memory>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include <velodyne_msgs/msg/velodyne_packet.hpp>
#include <velodyne_msgs/msg/velodyne_scan.hpp>

namespace velodyne_driver
{

constexpr uint16_t DATA_PORT_NUMBER = 2368;      // default data port

class Input
{
public:
  explicit Input(rclcpp::Node * private_nh, const std::string & devip, uint16_t port);
  virtual ~Input() {}

  virtual int getPacket(
    velodyne_msgs::msg::VelodynePacket * pkt,
    const double time_offset) = 0;

protected:
  rclcpp::Node * private_nh_;
  std::string devip_str_;
  uint16_t port_;
};

class InputSocket final : public Input
{
public:
  explicit InputSocket(
    rclcpp::Node * private_nh,
    const std::string & devip, uint16_t port, bool gps_time);
  ~InputSocket() override;

  int getPacket(
    velodyne_msgs::msg::VelodynePacket * pkt,
    const double time_offset) override;
  void setDeviceIP(const std::string & ip);

private:
  int sockfd_;
  in_addr devip_{};
  bool gps_time_;
};


class InputPCAP final : public Input
{
public:
  explicit InputPCAP(
    rclcpp::Node * private_nh,
    const std::string & devip,
    uint16_t port,
    double packet_rate,
    const std::string & filename,
    bool read_once,
    bool read_fast,
    double repeat_delay);
  ~InputPCAP() override;

  int getPacket(
    velodyne_msgs::msg::VelodynePacket * pkt,
    const double time_offset) override;
  void setDeviceIP(const std::string & ip);

private:
  rclcpp::Rate packet_rate_;
  std::string filename_;
  pcap_t * pcap_;
  bpf_program pcap_packet_filter_{};
  char errbuf_[PCAP_ERRBUF_SIZE]{};
  bool empty_;
  bool read_once_;
  bool read_fast_;
  double repeat_delay_;
};

}  // namespace velodyne_driver

#endif  // VELODYNE_DRIVER__INPUT_HPP_