proprietary_reader.h

// This file is part of snark, a generic and flexible library
// for robotics research.
//
// Copyright (C) 2011 The University of Sydney
//
// snark is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// snark is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
// for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with snark. If not, see <http://www.gnu.org/licenses/>.

#ifndef SNARK_SENSORS_VELODYNE_PROPRIETARYREADER_H_
#define SNARK_SENSORS_VELODYNE_PROPRIETARYREADER_H_

#ifndef WIN32
#include <stdlib.h>
#endif
#include <iostream>
#include <fstream>
#include <boost/array.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/noncopyable.hpp>
#include <boost/scoped_ptr.hpp>

namespace snark {

class proprietary_reader : public boost::noncopyable
{
    public:
        proprietary_reader( const std::string& filename = "-" );
    
        ~proprietary_reader();
    
        const char* read();
    
        void close();
    
        boost::posix_time::ptime timestamp() const;
    
    private:
        enum
        {
              headerSize = 16
            , timestampSize = 12
            , payload_size = 1206
            , footerSize = 4
            , packetSize = headerSize + timestampSize + payload_size + footerSize
            , packetNum = 1 // , packetNum = 10 : does not seem to make big impact on the i/o performance
        };
        boost::array< char, packetSize * packetNum > m_buffer;
        std::size_t m_offset;
        std::size_t m_end;
        boost::posix_time::ptime m_timestamp;
        boost::scoped_ptr< std::ifstream > m_ifstream;
        std::istream* m_istream;
};

} 

#endif /*SNARK_SENSORS_VELODYNE_PROPRIETARYREADER_H_*/