os_pcap.h

Typedefs

using ouster::sensor_utils::ts = std::chrono::microseconds

Microsecond timestamp.

Structs

struct guessed_ports

Structure representing a hash key/sorting key for a udp stream

Public Members

int lidar

Guessed lidar port.

int imu

Guessed imu port.

struct stream_data

Public Members

uint64_t count

Number of packets in a specified stream.

std::map<uint64_t, uint64_t> payload_size_counts

Packet sizes detected in a specified stream Key: Packet Size Value: Count of a specific packet size

std::map<uint64_t, uint64_t> fragment_counts

Fragments detected in a specified stream Key: Number of fragments Value: Count of a specific number of packets

std::map<uint64_t, uint64_t> ip_version_counts

IP version detected in a specified stream Key: IP Version Value: Count of the specific ip version

struct stream_info

Structure representing the information about network streams in a pcap file

Public Members

uint64_t total_packets

The total number of packets detected.

uint32_t encapsulation_protocol

The encapsulation protocol for the pcap file

ts timestamp_max

The latest timestamp detected.

ts timestamp_min

The earliest timestamp detected.

std::unordered_map<stream_key, stream_data> udp_streams

Datastructure containing info on all of the different streams

struct stream_key

Structure representing a hash key/sorting key for a udp stream

Public Members

std::string dst_ip

The destination IP.

std::string src_ip

The source IP.

int src_port

The src port.

int dst_port

The destination port.

struct playback_handle

struct to hide the stepwise playback details.

This struct handles stepwise playback details.

struct record_handle

struct to hide the record details.

This struct handles hiding the record details.

template<>
struct hash<ouster::sensor_utils::stream_key>

Functions

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::operator<<” with arguments (std::ostream&, const ouster::sensor_utils::packet_info&) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- std::ostream &operator<<(std::ostream &stream_in, const packet_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_data &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_key &data)

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::operator<<” with arguments (std::ostream&, const ouster::sensor_utils::stream_key&) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- std::ostream &operator<<(std::ostream &stream_in, const packet_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_data &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_key &data)

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::operator<<” with arguments (std::ostream&, const ouster::sensor_utils::stream_data&) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- std::ostream &operator<<(std::ostream &stream_in, const packet_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_data &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_key &data)

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::operator<<” with arguments (std::ostream&, const ouster::sensor_utils::stream_info&) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- std::ostream &operator<<(std::ostream &stream_in, const packet_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_data &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_info &data)
- std::ostream &operator<<(std::ostream &stream_in, const stream_key &data)
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, int frag_size, bool use_sll_encapsulation = false)

Initialize the record handle for recording multi sensor pcap files. Source and destination IPs must be provided with each packet.

Parameters:

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

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

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

Returns:

record_handle A handle to the initialized record.

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, const std::string &src_ip, const std::string &dst_ip, int src_port, int dst_port, const uint8_t *buf, size_t buffer_size, uint64_t microsecond_timestamp)

Record a buffer to a multi sensor record_handle pcap file.

Parameters:

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

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

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

  • 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.

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::record_packet” with arguments (record_handle&, const ouster::sensor_utils::packet_info&, const uint8_t*, size_t) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- void record_packet(record_handle &handle, const packet_info &info, const uint8_t *buf, size_t buffer_size)
- void record_packet(record_handle &handle, const std::string &src_ip, const std::string &dst_ip, int src_port, int dst_port, const uint8_t *buf, size_t buffer_size, uint64_t microsecond_timestamp)
std::shared_ptr<stream_info> ouster::sensor_utils::get_stream_info(const std::string &file, int packets_to_process = -1)

Return the information about network streams in a pcap file.

Parameters:

  • file – [in] The pcap file to read.

  • packets_to_process – [in] Number of packets to process < 0 for all of them

Returns:

A pointer to the resulting stream_info

Warning

doxygenfunction: Unable to resolve function “ouster::sensor_utils::get_stream_info” with arguments (const std::string&, std::function<void(uint64_t, uint64_t, uint64_t)>, int, int) in doxygen xml output for project “cpp_api” from directory: /ouster-sdk/docs/_build/latest/doctrees/xml. Potential matches: 

- std::shared_ptr<stream_info> get_stream_info(PcapReader &pcap_reader, std::function<void(uint64_t, uint64_t, uint64_t)> progress_callback, int packets_per_callback, int packets_to_process = -1)
- std::shared_ptr<stream_info> get_stream_info(const std::string &file, int packets_to_process = -1)
- std::shared_ptr<stream_info> get_stream_info(const std::string &file, std::function<void(uint64_t current, uint64_t delta, uint64_t total)> progress_callback, int packets_per_callback, int packets_to_process = -1)
std::shared_ptr<stream_info> ouster::sensor_utils::get_stream_info(PcapReader &pcap_reader, std::function<void(uint64_t, uint64_t, uint64_t)> progress_callback, int packets_per_callback, int packets_to_process = -1)

Return the information about network streams in a PcapReader and generate indicies (if the PcapReader is an IndexedPcapReader).

Parameters:

  • pcap_reader – [in] The PcapReader

  • progress_callback – [in] A callback to invoke after each packet is scanned current: The current file offset delta: The delta in file offset total: The total size of the file

  • packets_per_callback – [in] Callback every n packets

  • packets_to_process – [in] Number of packets to process < 0 for all of them

Returns:

A pointer to the resulting stream_info

std::vector<guessed_ports> ouster::sensor_utils::guess_ports(stream_info &info, int lidar_packet_size, int imu_packet_size, int expected_lidar_port, int expected_imu_port)

Return a guess of the correct ports located in a pcap file.

Parameters:

  • info – [in] The stream_info structure generated from a specific pcap file

  • lidar_packet_size – [in] The size of the lidar packets

  • imu_packet_size – [in] The size of the imu packets

  • expected_lidar_port – [in] The expected lidar port from the metadata (pass 0 for unknown)

  • expected_imu_port – [in] The expected imu port from the metadata (pass 0 for unknown)

Returns:

A vector (sorted by most likely to least likely) of the guessed ports