lidar is a scam (#2094)
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@ -68,8 +68,6 @@
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#define LOG_ROOT "/data/media/0/realdata"
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#define ENABLE_LIDAR 0
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#define RAW_CLIP_LENGTH 100 // 5 seconds at 20fps
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#define RAW_CLIP_FREQUENCY (randrange(61, 8*60)) // once every ~4 minutes
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@ -389,78 +387,6 @@ void encoder_thread(bool is_streaming, bool raw_clips, int cam_idx) {
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}
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#endif
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#if ENABLE_LIDAR
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#include <netinet/in.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <arpa/inet.h>
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#define VELODYNE_DATA_PORT 2368
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#define VELODYNE_TELEMETRY_PORT 8308
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#define MAX_LIDAR_PACKET 2048
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int lidar_thread() {
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// increase kernel max buffer size
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system("sysctl -w net.core.rmem_max=26214400");
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set_thread_name("lidar");
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int sock;
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if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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perror("cannot create socket");
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return -1;
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}
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int a = 26214400;
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if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, &a, sizeof(int)) == -1) {
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perror("cannot set socket opts");
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return -1;
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}
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struct sockaddr_in addr;
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memset(&addr, 0, sizeof(struct sockaddr_in));
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addr.sin_family = AF_INET;
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addr.sin_port = htons(VELODYNE_DATA_PORT);
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inet_aton("192.168.5.11", &(addr.sin_addr));
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if (bind(sock, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
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perror("cannot bind LIDAR socket");
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return -1;
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}
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capnp::byte buf[MAX_LIDAR_PACKET];
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while (!do_exit) {
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// receive message
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struct sockaddr from;
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socklen_t fromlen = sizeof(from);
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int cnt = recvfrom(sock, (void *)buf, MAX_LIDAR_PACKET, 0, &from, &fromlen);
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if (cnt <= 0) {
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printf("bug in lidar recieve!\n");
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continue;
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}
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// create message for log
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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto lidar_pts = event.initLidarPts();
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// copy in the buffer
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// TODO: can we remove this copy? does it matter?
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kj::ArrayPtr<capnp::byte> bufferPtr = kj::arrayPtr(buf, cnt);
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lidar_pts.setPkt(bufferPtr);
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// log it
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auto words = capnp::messageToFlatArray(msg);
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auto bytes = words.asBytes();
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logger_log(&s.logger, bytes.begin(), bytes.size());
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}
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return 0;
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}
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#endif
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}
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void append_property(const char* key, const char* value, void *cookie) {
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@ -694,10 +620,6 @@ int main(int argc, char** argv) {
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#endif
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#endif
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#if ENABLE_LIDAR
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std::thread lidar_thread_handle(lidar_thread);
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#endif
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uint64_t msg_count = 0;
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uint64_t bytes_count = 0;
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@ -775,11 +697,6 @@ int main(int argc, char** argv) {
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LOGW("encoder joined");
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#endif
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#if ENABLE_LIDAR
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lidar_thread_handle.join();
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LOGW("lidar joined");
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#endif
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logger_close(&s.logger);
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for (auto s : socks){
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