velodyne::InputPCAP Class Reference

Velodyne input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for velodyne::InputPCAP:

[legend]

List of all members.

Public Member Functions
virtual int	getPackets (uint8_t *buffer, int npacks, double *data_time)
	Read velodyne packets.
	InputPCAP (std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
virtual int	vclose (void)
	Close the data socket or file.
virtual int	vopen (void)
	Open the data socket or file.
	~InputPCAP ()
Private Attributes
ros::Rate	delay_
bool	empty_
char	errbuf_ [PCAP_ERRBUF_SIZE]
std::string	filename_
FILE *	fp_
pcap_t *	pcap_
bool	read_fast_
bool	read_once_
double	repeat_delay_

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Detailed Description

Velodyne input from PCAP dump file.

Dump files can be grabbed by libpcap, Velodyne's DSR software, ethereal, wireshark, tcpdump, or the Vdump Command.

Definition at line 121 of file input.h.

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Constructor & Destructor Documentation

velodyne::InputPCAP::InputPCAP	(	std::string	filename = "",
		bool	read_once = false,
		bool	read_fast = false,
		double	repeat_delay = 0.0
	)			[inline]

Definition at line 124 of file input.h.

velodyne::InputPCAP::~InputPCAP

(

)

[inline]

Definition at line 149 of file input.h.

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Member Function Documentation

int velodyne::InputPCAP::getPackets	(	uint8_t *	buffer,
		int	npacks,
		double *	data_time
	)			[virtual]

Read velodyne packets.

Parameters:

	buffer	array to receive raw data packets
	npacks	number of packets to read
	data_time[out]	average time when data received

Returns:

number of packets not read, if any 0 if successful, -1 if end of file

Deprecated:

Use getPacket() instead

Implements velodyne::Input.

Definition at line 198 of file input.cc.

int velodyne::InputPCAP::vclose

(

void

)

[virtual]

Close the data socket or file.

Returns:

0, if successful errno value, for failure

Implements velodyne::Input.

Definition at line 262 of file input.cc.

int velodyne::InputPCAP::vopen

(

void

)

[virtual]

Open the data socket or file.

Returns:

: 0, if successful; -1 for failure

Todo:

return errno value for failure

Todo:

print error message, if pcap open fails

Implements velodyne::Input.

Definition at line 173 of file input.cc.

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Member Data Documentation

ros::Rate velodyne::InputPCAP::delay_ [private]

Definition at line 164 of file input.h.

bool velodyne::InputPCAP::empty_ [private]

Definition at line 160 of file input.h.

char velodyne::InputPCAP::errbuf_[PCAP_ERRBUF_SIZE] [private]

Definition at line 159 of file input.h.

std::string velodyne::InputPCAP::filename_ [private]

Definition at line 156 of file input.h.

FILE* velodyne::InputPCAP::fp_ [private]

Definition at line 157 of file input.h.

pcap_t* velodyne::InputPCAP::pcap_ [private]

Definition at line 158 of file input.h.

bool velodyne::InputPCAP::read_fast_ [private]

Definition at line 162 of file input.h.

bool velodyne::InputPCAP::read_once_ [private]

Definition at line 161 of file input.h.

double velodyne::InputPCAP::repeat_delay_ [private]

Definition at line 163 of file input.h.

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

• input.h
• input.cc