//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();
}
}
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();
}
