//private byte[] nextPacket = null;
/// <summary>
/// Create 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>
private VelodyneReader(VelodyneSensorType type, ReturnMode returnMode, String indexFile, String pointFile)
{
this.IndexFile = indexFile;
this.PointFile = pointFile;
this.Sensor = type;
Indeces = new List <IndexData>();
if (!File.Exists(indexFile))
{
throw new FileNotFoundException("Index file does not exist!");
}
if (!File.Exists(pointFile))
{
throw new FileNotFoundException("Point file does not exist!");
}
if (type == VelodyneSensorType.HDL32E)
{
PacketInterpreter = new PacketInterpreterHDL32E();
}
else if (type == VelodyneSensorType.VLP16)
{
PacketInterpreter = new PacketInterpreterVLP16(returnMode);
}
else
{
throw new NotImplementedException();
}
}
/// <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);
}
/// <summary>
/// Create reader object
/// </summary>
/// <param name="type">Type of the sensor</param>
/// <param name="indexFile">Index file path</param>
/// <param name="pointFile">Point file path</param>
private VelodyneReader(VelodyneSensorType type, String indexFile, String pointFile) : this(type, ReturnMode.AllReturns, indexFile, pointFile)
{
}
/// <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, String indexFile, String pointFile)
{
return(Open(type, ReturnMode.AllReturns, indexFile, pointFile));
}
public VelodyneDataStream(Project project, string name, string shortName, string subFolder, VelodyneSensorType sensorType) : base(project, name, shortName, subFolder)
{
this.SensorType = sensorType;
}
