/// <summary>
/// Open Velodyne reader object
/// </summary>
/// <param name="type">Type of the sensor</param>
/// <param name="returnMode">Define return type for VLP-16, this variable is neglected for HDL-32E</param>
/// <param name="indexFile">Index file path</param>
/// <param name="pointFile">Point file path</param>
/// <returns></returns>
public static VelodyneReader Open(VelodyneSensorType type, ReturnMode returnMode, String indexFile, String pointFile)
{
VelodyneReader obj = new VelodyneReader(type, returnMode, indexFile, pointFile);
FileInfo fi = new FileInfo(indexFile);
long fileSize = fi.Length;
obj.Indeces.Clear();
byte[] idxData = File.ReadAllBytes(obj.IndexFile);
MemoryStream mem = new MemoryStream(idxData);
long idx = 0;
using (BinaryReader reader = new BinaryReader(mem))
{
while (reader.BaseStream.Position != reader.BaseStream.Length)
{
long internalTimeTicks = reader.ReadInt64();
DateTime internalTime = new DateTime(internalTimeTicks);
long packetTimeStampTicks = reader.ReadInt64();
DateTime packetTimeStamp = new DateTime(packetTimeStampTicks);
long position = reader.ReadInt64();
byte[] nmeBytes = reader.ReadBytes(IndexData.NMEA_LENGTH);
String nmea = Encoding.ASCII.GetString(nmeBytes);
obj.Indeces.Add(new IndexData(packetTimeStamp, internalTime, position, nmea));
idx++;
if (idx % 500 == 0)
{
ProgressReportEventArgs args = new ProgressReportEventArgs((((double)reader.BaseStream.Position / (double)fileSize) * 100.0), reader.BaseStream.Position, packetTimeStamp.ToUniversalTime());
OnReportProgress(args);
}
}
}
obj.pointReader = new BinaryReader(File.Open(obj.PointFile, FileMode.Open));
return(obj);
}
public void Convert(CancellationToken cancellationToken = default(CancellationToken))
{
FileInfo fi = new FileInfo(PcapFile);
long fileSize = fi.Length;
BinaryWriter idxWriter = new BinaryWriter(File.Open(GetDefaultIndexFile(PcapFile), FileMode.Create));
OfflinePacketDevice selectedDevice = new OfflinePacketDevice(PcapFile);
PacketCommunicator communicator =
selectedDevice.Open(65536, // portion of the packet to capture
// 65536 guarantees that the whole packet will be captured on all the link layers
PacketDeviceOpenAttributes.Promiscuous, // promiscuous mode
1000); // read timeout
using (BinaryWriter pointWriter = new BinaryWriter(File.Open(GetDefaultPointFile(PcapFile), FileMode.Create)))
{
Packet packet;
bool isEof = false;
VelodyneNmeaPacket lastNmea = null;
long sumBytes = 0;
long indexId = 0;
while (!isEof)
{
if (cancellationToken.IsCancellationRequested)
{
idxWriter.Close();
cancellationToken.ThrowIfCancellationRequested();
}
PacketCommunicatorReceiveResult result = communicator.ReceivePacket(out packet);
switch (result)
{
case PacketCommunicatorReceiveResult.Timeout:
case PacketCommunicatorReceiveResult.Ok:
sumBytes += packet.Length;
if (packet.Length == 554)
{
lastNmea = PacketInterpreter.ReadRecordNMEA(packet.Buffer);
indexId++;
}
else
{
pointWriter.Write(packet.Timestamp.Ticks);
pointWriter.Write(packet.Buffer);
if (lastNmea != null)
{
int l = packet.Length - 6; // this is the end of the pack!
double internal_time = BitConverter.ToUInt32(new byte[] { packet[l], packet[l + 1], packet[l + 2], packet[l + 3] }, 0) / 1000000.00;
DateTime utcPacketTimestamp = packet.Timestamp.ToUniversalTime();
DateTime time = (new DateTime(utcPacketTimestamp.Year, utcPacketTimestamp.Month, utcPacketTimestamp.Day, utcPacketTimestamp.Hour, 0, 0)).AddSeconds(internal_time);
idxWriter.Write(time.Ticks);
idxWriter.Write(packet.Timestamp.Ticks);
idxWriter.Write(pointWriter.BaseStream.Position);
byte[] nmea_byte = Encoding.ASCII.GetBytes(lastNmea.NmeaString.PadRight(NMEA_LENGTH, ' '));
idxWriter.Write(nmea_byte);
if (indexId % 100 == 0)
{
ProgressReportEventArgs args = new ProgressReportEventArgs((((double)sumBytes / (double)fileSize) * 100.0), sumBytes, utcPacketTimestamp);
OnReportProgress(args);
}
lastNmea = null;
}
}
break;
case PacketCommunicatorReceiveResult.Eof:
isEof = true;
break;
default:
throw new InvalidOperationException("The result " + result + " should never be reached here");
}
}
}
idxWriter.Close();
}
protected virtual void OnReportProgress(ProgressReportEventArgs e)
{
ProgressReport?.Invoke(this, e);
}
protected static void OnReportProgress(ProgressReportEventArgs e)
{
ProgressReport?.Invoke(null, e);
}
