os_pcap.h

Packet Info

struct ouster::sensor_utils::packet_info

Public Types

using ts = std::chrono::microseconds

Microsecond timestamp.

Public Members

std::string dst_ip

The destination IP.

std::string src_ip

The source IP.

int dst_port

The destination port.

int src_port

The source port.

size_t payload_size

The size of the packet payload.

ts timestamp

The packet capture timestamp.

int fragments_in_packet

Number of fragments in the packet.

int ip_version

The ip version, 4 or 6.

int encapsulation_protocol

PCAP encapsulation type.

int network_protocol

IANA protocol number. Always 17 (UDP)

std::ostream &ouster::sensor_utils::operator<<(std::ostream &stream_in, const packet_info &data)

To string method for packet info structs.

Parameters

  • stream_in – [inout] The pre-existing ostream to concat with data.

  • data – [in] The packet_info to output.

Returns

The new output stream containing concatted stream_in and data.

Handles

struct record_handle
struct playback_handle

Functions

std::shared_ptr<playback_handle> ouster::sensor_utils::replay_initialize(const std::string &file)

Initialize the stepwise playback handle.

Parameters

file – [in] The file path of the pcap file.

Returns

A handle to the initialized playback struct.

void ouster::sensor_utils::replay_uninitialize(playback_handle &handle)

Uninitialize the stepwise playback handle.

Parameters

handle – [in] A handle to the initialized playback struct.

void ouster::sensor_utils::replay_reset(playback_handle &handle)

Restart playback from the beginning of the pcap file.

Parameters

handle – [in] A handle to the initialized playback struct.

bool ouster::sensor_utils::next_packet_info(playback_handle &handle, packet_info &info)

Return the information on the next packet avaliable in the playback_handle. This must be called BEFORE calling the read_next_packet function.

Parameters

  • handle – [in] The playback handle.

  • info – [out] The returned information on the next packet.

Returns

The status on whether there is a new packet or not.

size_t ouster::sensor_utils::read_packet(playback_handle &handle, uint8_t *buf, size_t buffer_size)

Read the data from the next packet avaliable in the playback_handle. This must be called AFTER calling the next_packet_info function.

Parameters

  • handle – [in] The playback handle.

  • buf – [out] The buffer to write the recieved data to (Must be sized appropriately.

  • buffer_size – [in] The size of the output buffer.

Returns

0 on no new packet, > 0 the size of the bytes recieved.

std::shared_ptr<record_handle> ouster::sensor_utils::record_initialize(const std::string &file, const std::string &src_ip, const std::string &dst_ip, int frag_size, bool use_sll_encapsulation = false)

Initialize the record handle for recording pcap files.

Parameters

  • file – [in] The file path to the target pcap to record to.

  • src_ip – [in] The source address to label the packets with.

  • dst_ip – [in] The destination address to label the packets with.

  • frag_size – [in] The size of the fragments for packet fragmentation.

  • use_sll_encapsulation – [in] Whether to use sll encapsulation.

void ouster::sensor_utils::record_uninitialize(record_handle &handle)

Uninitialize the record handle, closing underlying file.

Parameters

handle – [in] An initialized handle for the recording state.

void ouster::sensor_utils::record_packet(record_handle &handle, int src_port, int dst_port, const uint8_t *buf, size_t buffer_size, uint64_t microsecond_timestamp)

Record a buffer to a record_handle pcap file.

Parameters

  • handle – [in] The record handle that record_initialize has initted.

  • src_port – [in] The source port to label the packets with.

  • dst_port – [in] The destination port to label the packets with.

  • buf – [in] The buffer to record to the pcap file.

  • buffer_size – [in] The size of the buffer to record to the pcap file.

  • microsecond_timestamp – [in] The timestamp to record the packet as microseconds.