"""
Copyright (c) 2021, Ouster, Inc.
All rights reserved.
"""
from copy import copy
import os
import socket
import time
from threading import Lock
from collections import defaultdict
from typing import (Iterable, Iterator, Optional, Tuple, Dict) # noqa: F401
from ouster.client import (LidarPacketValidator, LidarPacket, ImuPacket, Packet, PacketSource, # noqa: F401
SensorInfo, _client, PacketValidationFailure, PacketIdError) # noqa: F401
from . import _pcap
MTU_SIZE = 1500
def _guess_ports(stream_info, sensor_info):
pf = _client.PacketFormat.from_info(sensor_info)
lidar_spec, imu_spec = sensor_info.udp_port_lidar, sensor_info.udp_port_imu
guesses = [(i.lidar, i.imu) for i in _pcap.guess_ports(
stream_info, pf.lidar_packet_size, pf.imu_packet_size,
lidar_spec, imu_spec)]
guesses.sort(reverse=True, key=lambda p: (p[0] != 0, p[1] != 0, p))
return guesses
def _packet_info_stream(path: str, n_packets, progress_callback=None, callback_frequency=1):
if progress_callback is not None:
result = _pcap.get_stream_info(path, progress_callback, callback_frequency, n_packets)
else:
result = _pcap.get_stream_info(path, n_packets)
return result
[docs]class Pcap(PacketSource):
"""Read a sensor packet stream out of a pcap file as an iterator."""
_metadata: SensorInfo
_rate: float
_handle: Optional[_pcap.playback_handle]
_lock: Lock
def __init__(self,
pcap_path: str,
info: SensorInfo,
*,
rate: float = 0.0,
lidar_port: Optional[int] = None,
imu_port: Optional[int] = None,
loop: bool = False,
_soft_id_check: bool = False):
"""Read a single sensor data stream from a packet capture.
Packet captures can contain arbitrary network traffic or even multiple
valid sensor data streams. To avoid passing invalid data to the user,
this class assumes that lidar and/or imu packets are associated with
distinct destination ports, which may be recorded in the sensor metadata
or specified explicitly.
When not specified, ports are guessed by sampling some packets and
looking for the expected packet size based on the sensor metadata. If
packets that might be valid sensor data appear on multiple ports, one is
chosen arbitrarily. See ``_guess_ports`` for details. on the heuristics.
Packets with the selected destination port that clearly don't match the
metadata (e.g. wrong size or init_id) will be silently ignored.
When a rate is specified, output packets in (a multiple of) real time
using the pcap packet capture timestamps.
Args:
info: Sensor metadata
pcap_path: File path of recorded pcap
rate: Output packets in real time, if non-zero
lidar_port: Specify the destination port of lidar packets
imu_port: Specify the destination port of imu packets
loop: Specify whether to reload the PCAP file when the end is reached
_soft_id_check: if True, don't skip lidar packets buffers on init_id/sn mismatch
"""
# prefer explicitly specified ports (can probably remove the args?)
lidar_port = info.udp_port_lidar if lidar_port is None else lidar_port
imu_port = info.udp_port_imu if imu_port is None else imu_port
# override ports in metadata, if explicitly specified
self._metadata = copy(info)
self._metadata.udp_port_lidar = lidar_port
self._metadata.udp_port_imu = imu_port
self.loop = loop
self._soft_id_check = _soft_id_check
self._id_error_count = 0 # TWS 20230615 TODO generialize error counting and reporting
self._errors = defaultdict(int) # type: Dict[PacketValidationFailure,int]
# sample pcap and attempt to find UDP ports consistent with metadata
n_packets = 1000
stats = _packet_info_stream(pcap_path, n_packets)
self._guesses = _guess_ports(stats, self._metadata)
# fill in unspecified (0) ports with inferred values
if len(self._guesses) > 0:
lidar_guess, imu_guess = self._guesses[0]
# guess != port only if port == 0 or guess == 0
self._metadata.udp_port_lidar = lidar_guess or lidar_port
self._metadata.udp_port_imu = imu_guess or imu_port
self._rate = rate
self._handle = _pcap.replay_initialize(pcap_path)
self._lock = Lock()
def __iter__(self) -> Iterator[Packet]:
with self._lock:
if self._handle is None:
raise ValueError("I/O operation on closed packet source")
buf = bytearray(2**16)
packet_info = _pcap.packet_info()
real_start_ts = time.monotonic()
pcap_start_ts = None
validator = LidarPacketValidator(self.metadata)
while True:
with self._lock:
if not self._handle:
break
if not _pcap.next_packet_info(self._handle, packet_info):
if self.loop:
_pcap.replay_reset(self._handle)
_pcap.next_packet_info(self._handle, packet_info)
else:
break
n = _pcap.read_packet(self._handle, buf)
# if rate is set, read in 'real time' simulating UDP stream
# TODO: factor out into separate packet iterator utility
timestamp = packet_info.timestamp
if self._rate:
if not pcap_start_ts:
pcap_start_ts = timestamp
real_delta = time.monotonic() - real_start_ts
pcap_delta = (timestamp - pcap_start_ts) / self._rate
delta = max(0, pcap_delta - real_delta)
time.sleep(delta)
try:
if (packet_info.dst_port == self._metadata.udp_port_lidar):
for error in validator.check_packet(buf, n):
self._errors[error] += 1 # accumulate counts of errors
lp = LidarPacket(
buf[0:n],
self._metadata,
timestamp,
_raise_on_id_check=not self._soft_id_check)
if lp.id_error:
self._id_error_count += 1
yield lp
elif (packet_info.dst_port == self._metadata.udp_port_imu):
yield ImuPacket(buf[0:n], self._metadata, timestamp)
except PacketIdError:
self._id_error_count += 1
except ValueError:
# bad packet size: this can happen when
# packets are buffered by the OS, not necessarily an error
# same pass as in core.py
# TODO: introduce status for PacketSource to indicate frequency
# of bad packet size or init_id/sn errors
pass
@property
def metadata(self) -> SensorInfo:
return self._metadata
@property
def ports(self) -> Tuple[int, int]:
"""Specified or inferred ports associated with lidar and imu data.
Values <= 0 indicate that no lidar or imu data will be read.
"""
return (self._metadata.udp_port_lidar, self._metadata.udp_port_imu)
[docs] def reset(self) -> None:
"""Restart playback from beginning. Thread-safe."""
with self._lock:
if self._handle is not None:
_pcap.replay_reset(self._handle)
@property
def closed(self) -> bool:
"""Check if source is closed. Thread-safe."""
with self._lock:
return self._handle is None
@property
def id_error_count(self) -> int:
return self._id_error_count
[docs] def close(self) -> None:
"""Release resources. Thread-safe."""
with self._lock:
if self._handle is not None:
_pcap.replay_uninitialize(self._handle)
self._handle = None
def _replay(pcap_path: str, info: SensorInfo, dst_ip: str, dst_lidar_port: int,
dst_imu_port: int) -> Iterator[bool]:
"""Replay UDP packets out over the network.
Todo:
Not really sure about this interface
Args:
pcap_path: Path to the pcap file to replay
info: The sensor metadata
dst_ip: IP to send packets to
dst_lidar_port: Destination port for lidar packets
dst_imu_port: Destination port for imu packets
Returns:
An iterator that reports whether packets were sent successfully as it's
consumed.
"""
try:
socket_out = socket.socket(family=socket.AF_INET,
type=socket.SOCK_DGRAM)
pcap_handle = Pcap(pcap_path, info)
for item in pcap_handle:
port = 0
if isinstance(item, LidarPacket):
port = dst_lidar_port
if isinstance(item, ImuPacket):
port = dst_imu_port
socket_out.sendto(item._data.tobytes(), (dst_ip, port))
yield True
yield False
finally:
if pcap_handle is not None:
pcap_handle.close()
[docs]def record(packets: Iterable[Packet],
pcap_path: str,
*,
src_ip: str = "127.0.0.1",
dst_ip: str = "127.0.0.1",
lidar_port: int = 7502,
imu_port: int = 7503,
use_sll_encapsulation: bool = False) -> int:
"""Record a sequence of sensor packets to a pcap file.
Args:
packets: A (finite!) sequence of packets
pcap_path: Path of the output pcap file
src_ip: Source IP to use for all packets
dst_ip: Destination IP to use for all packets
lidar_port: Src/dst port to use for lidar packets
imu_port: Src/dst port to use for imu packets
use_sll_encapsulation: Use sll encapsulation
Returns:
Number of packets captured
"""
has_timestamp = None
error = False
n = 0
handle = _pcap.record_initialize(pcap_path, MTU_SIZE,
use_sll_encapsulation)
try:
for packet in packets:
if isinstance(packet, LidarPacket):
src_port = lidar_port
dst_port = lidar_port
elif isinstance(packet, ImuPacket):
src_port = imu_port
dst_port = imu_port
else:
raise ValueError("Unexpected packet type")
if has_timestamp is None:
has_timestamp = (packet.capture_timestamp is not None)
elif has_timestamp != (packet.capture_timestamp is not None):
raise ValueError("Mixing timestamped/untimestamped packets")
ts = packet.capture_timestamp or time.time()
_pcap.record_packet(handle, src_ip, dst_ip, src_port, dst_port, packet._data, ts)
n += 1
except Exception:
error = True
raise
finally:
_pcap.record_uninitialize(handle)
if error and os.path.exists(pcap_path) and n == 0:
os.remove(pcap_path)
return n