input.h

Go to the documentation of this file.

/* -*- mode: C++ -*-
 *
 *  Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
 *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: input.h 780 2010-11-14 15:43:37Z jack.oquin $
 */

#ifndef __VELODYNE_INPUT_H
#define __VELODYNE_INPUT_H

#include <unistd.h>
#include <stdio.h>
#include <pcap.h>

#include <ros/ros.h>
#include <velodyne_common/RawScan.h>
#include <velodyne_msgs/VelodynePacket.h>

namespace velodyne
{
  static uint16_t UDP_PORT_NUMBER = 2368;

  // Pure virtual base Velodyne input class -- not used directly
  class Input
  {
  public:
    Input() {};

    virtual int getPacket(velodyne_msgs::VelodynePacket *pkt);

    virtual int getPackets(uint8_t *buffer, int npacks, double *data_time) = 0;

    virtual int vclose(void) = 0;

    virtual int vopen(void) = 0;
  };

  class InputSocket: public Input
  {
  public:
    InputSocket(uint16_t udp_port = UDP_PORT_NUMBER):
    Input()
    {
      udp_port_ = udp_port;
      sockfd_ = -1;
    }
    ~InputSocket() {}

    virtual int getPackets(uint8_t *buffer, int npacks, double *data_time);
    virtual int vclose(void);
    virtual int vopen(void);

  private:
    uint16_t udp_port_;
    int sockfd_;
  };


  class InputPCAP: public Input
  {
  public:
    InputPCAP(std::string filename="",
              bool read_once=false,
              bool read_fast=false,
              double repeat_delay=0.0):
      Input(), delay_(2600.0)
    {
      filename_ = filename;
      fp_ = NULL;  
      pcap_ = NULL;  
      empty_ = true;

      // get parameters from "input" subspace of private node handle
      ros::NodeHandle private_nh("~/input");
      private_nh.param("read_once", read_once_, read_once);
      private_nh.param("read_fast", read_fast_, read_fast);
      private_nh.param("repeat_delay", repeat_delay_, repeat_delay);

      if (read_once_)
        ROS_INFO("Read input file only once.");
      if (read_fast_)
        ROS_INFO("Read input file as quickly as possible.");
      if (repeat_delay_ > 0.0)
        ROS_INFO("Delay %.3f seconds before repeating input file.",
                 repeat_delay_);
    }
    ~InputPCAP() {}

    virtual int getPackets(uint8_t *buffer, int npacks, double *data_time);
    virtual int vclose(void);
    virtual int vopen(void);

  private:
    std::string filename_;
    FILE *fp_;
    pcap_t *pcap_;
    char errbuf_[PCAP_ERRBUF_SIZE];
    bool empty_;
    bool read_once_;
    bool read_fast_;
    double repeat_delay_;
    ros::Rate delay_;
  };

} // velodyne namespace

#endif // __VELODYNE_INPUT_H

---

velodyne_common
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Fri Jan 11 10:05:54 2013