input.h
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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
00004  *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
00005  *
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id$
00009  */
00010 
00031 #ifndef __VELODYNE_INPUT_H
00032 #define __VELODYNE_INPUT_H
00033 
00034 #include <unistd.h>
00035 #include <stdio.h>
00036 #include <pcap.h>
00037 
00038 #include <ros/ros.h>
00039 #include <velodyne_msgs/VelodynePacket.h>
00040 
00041 namespace velodyne_driver
00042 {
00043   static uint16_t UDP_PORT_NUMBER = 2368;
00044 
00046   class Input
00047   {
00048   public:
00049     Input() {}
00050 
00059     virtual int getPacket(velodyne_msgs::VelodynePacket *pkt) = 0;
00060   };
00061 
00063   class InputSocket: public Input
00064   {
00065   public:
00066     InputSocket(ros::NodeHandle private_nh,
00067                 uint16_t udp_port = UDP_PORT_NUMBER);
00068     ~InputSocket();
00069 
00070     virtual int getPacket(velodyne_msgs::VelodynePacket *pkt);
00071 
00072   private:
00073 
00074     int sockfd_;
00075   };
00076 
00077 
00083   class InputPCAP: public Input
00084   {
00085   public:
00086     InputPCAP(ros::NodeHandle private_nh,
00087               double packet_rate,
00088               std::string filename="",
00089               bool read_once=false,
00090               bool read_fast=false,
00091               double repeat_delay=0.0);
00092     ~InputPCAP();
00093 
00094     virtual int getPacket(velodyne_msgs::VelodynePacket *pkt);
00095 
00096   private:
00097 
00098     std::string filename_;
00099     FILE *fp_;
00100     pcap_t *pcap_;
00101     char errbuf_[PCAP_ERRBUF_SIZE];
00102     bool empty_;
00103     bool read_once_;
00104     bool read_fast_;
00105     double repeat_delay_;
00106     ros::Rate packet_rate_;
00107   };
00108 
00109 } // velodyne_driver namespace
00110 
00111 #endif // __VELODYNE_INPUT_H


velodyne_driver
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Thu Aug 27 2015 15:37:01