Major changes; shell script to create virtual ethernet port & set up can0; press spacebar to pause and play; CAN data recorded in record mode if CAN connection is available; one of the packet_handler function gets data from eth10 which is a virtual port that receives data from send_eth.cpp

Author: s-nepal

Makefile

@@ -0,0 +1,50 @@
+# Makefile
+
+CXX = g++
+OFLAG = -O3
+
+CFLAGS = `pkg-config --cflags opencv`
+LDFLAGS = `pkg-config --libs opencv`
+
+all: main 
+
+main: 
+	$(CXX) -std=c++11 -o main main.cpp $(OFLAG) \
+	-I. -I/usr/include/pcap/ -I/usr/include/pcl-1.7 -I/usr/include/eigen3 \
+	-I/usr/include/vtk-5.8 \
+	-I/usr/lib/x86_64-linux-gnu/ \
+	$(CFLAGS) $(LDFLAGS) \
+	-rdynamic -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -lboost_iostreams \
+	-lboost_serialization -lboost_chrono -lpthread -lpcl_common -Wl,-Bstatic -lflann_cpp_s -Wl,-Bdynamic \
+	-lpcl_kdtree -lpcl_octree -lpcl_search -lqhull -lpcl_surface -lpcl_sample_consensus -lOpenNI -lOpenNI2 \
+	-lpcl_io -lpcl_filters -lpcl_features -lpcl_keypoints -lpcl_registration -lpcl_segmentation -lpcl_recognition \
+	-lpcl_visualization -lpcl_people -lpcl_outofcore -lpcl_tracking -lpcl_apps -lboost_system -lboost_filesystem \
+	-lboost_thread -lboost_date_time -lboost_iostreams -lboost_serialization -lboost_chrono -lpthread -lqhull \
+	-lOpenNI -lOpenNI2 -Wl,-Bstatic -lflann_cpp_s -Wl,-Bdynamic -lpcap \
+	/usr/local/lib/libopencv_viz.so.3.1.0 /usr/local/lib/libopencv_videostab.so.3.1.0 \
+	/usr/local/lib/libopencv_superres.so.3.1.0 /usr/local/lib/libopencv_stitching.so.3.1.0 \
+	/usr/local/lib/libopencv_shape.so.3.1.0 /usr/local/lib/libopencv_photo.so.3.1.0 \
+	/usr/local/lib/libopencv_objdetect.so.3.1.0 /usr/local/lib/libopencv_calib3d.so.3.1.0 \
+	-lpthread -lpcl_common -lpcl_kdtree -lpcl_octree -lpcl_search -lpcl_surface -lpcl_sample_consensus \
+	-lpcl_io -lpcl_filters -lpcl_features -lpcl_keypoints -lpcl_registration -lpcl_segmentation \
+	-lpcl_recognition -lpcl_visualization -lpcl_people -lpcl_outofcore -lpcl_tracking -lpcl_apps -lpcap -lpthread \
+	/usr/lib/libvtkGenericFiltering.so.5.8.0 /usr/lib/libvtkGeovis.so.5.8.0 /usr/lib/libvtkCharts.so.5.8.0 \
+	/usr/lib/libvtkViews.so.5.8.0 /usr/lib/libvtkInfovis.so.5.8.0 /usr/lib/libvtkWidgets.so.5.8.0 \
+	/usr/lib/libvtkVolumeRendering.so.5.8.0 /usr/lib/libvtkHybrid.so.5.8.0 /usr/lib/libvtkParallel.so.5.8.0 \
+	/usr/lib/libvtkRendering.so.5.8.0 /usr/lib/libvtkImaging.so.5.8.0 /usr/lib/libvtkGraphics.so.5.8.0 \
+	/usr/lib/libvtkIO.so.5.8.0 /usr/lib/libvtkFiltering.so.5.8.0 /usr/lib/libvtkCommon.so.5.8.0 \
+	-lm /usr/lib/libvtksys.so.5.8.0 -ldl /usr/local/lib/libopencv_features2d.so.3.1.0 \
+	/usr/local/lib/libopencv_ml.so.3.1.0 /usr/local/lib/libopencv_highgui.so.3.1.0 \
+	/usr/local/lib/libopencv_videoio.so.3.1.0 /usr/local/lib/libopencv_imgcodecs.so.3.1.0 \
+	/usr/local/lib/libopencv_flann.so.3.1.0 /usr/local/lib/libopencv_video.so.3.1.0 \
+	/usr/local/lib/libopencv_imgproc.so.3.1.0 /usr/local/lib/libopencv_core.so.3.1.0 -Wl,-rpath,/usr/local/lib
+
+#candump: lib
+#	g++ -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o candump.o candump.cpp
+
+#lib:
+#	cc -O2 -Wall -Wno-parentheses -fno-strict-aliasing -Iinclude -D_FILE_OFFSET_BITS=64 -DSO_RXQ_OVFL=40 -DPF_CAN=29 -DAF_CAN=PF_CAN  -c -o lib.o lib.c
+
+clean:
+	rm -f main
+	rm -f *.o

build.sh

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+#!/bin/bash
+
+
+
+#export portName="eth10"
+virtual_ethernet()
+{
+	echo "setting virtual ethernet port"
+	sudo modprobe dummy
+	lsmod | grep dummy
+
+	if (sudo ip link set name eth10 dev dummy0 2> /dev/null); then
+		echo "succesfully created a virtual ethernet"
+		sudo ifconfig eth10 up 
+	else 
+		echo "error in creating vitual ethernet port"
+		echo -n "Do you want to clean up existing eth10 [Y/n]"
+		sudo ifconfig eth10 up 
+		read character
+		case $character in
+			Y)
+				echo "cleaning up existing device"
+				sudo ip link delete eth10 type dummy
+				sudo rmmod dummy
+				;;
+			n)
+				exit 1
+				;;
+		esac
+	fi
+}
+
+
+LSUSBINFO="$(lsusb | grep PEAK | cut -d' ' -f 6)"
+
+sudo slcand -o -c -s0 /dev/$LSUSBINFO can0
+(sudo ifconfig can0 up) 2> /dev/null
+if [ "$?" = "0" ]; then
+	echo "CAN device is connected"
+else
+	echo "CAN device is not connected"
+fi
+
+virtual_ethernet