259 lines
8.8 KiB
C++
259 lines
8.8 KiB
C++
#pragma once
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#include "dkam_asyncqueue.h"
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#include "dkam_base_type.h"
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#include "dkam_gige_camera.h"
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#include "dkam_log.h"
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#define GVSP_MAX_INCOMIN_SIZE 65535 //收到数据最大尺寸，其实巨帧也不过9000多个，这最为了方便，直接用16位的最大值 。
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#define SOCKET_SELECT_TIMEOUT_US_DEFAULT 10000 //select超时时间
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#define PACKET_TIMEOUT_US_DEFAULT 400000 //重发包超时时间
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#define BLOCK_TIMEOUT_US_DEFAULT 1000000 //block完整性检查评估的超时时间
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#define PACKET_RESEND_FLAG_DEFAILT TRUE //重发包使用
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#define PACKET_RESEND_RATIO_DEFAULT 1 //重发比例，默认100%
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#define MAX_BUFFER_LENGTH_DEFAULT 4 //最长的缓冲区大小，默认4
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#define NET_SPEED_STATISTICS_UNIT_TIME_US 1000000 //网速计时的默认时间区间，1s
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#define SEND_TO_SOURCE_SOURCE_TIME_US_DEFAULT 3000000 //默认发包破防火墙的间隔 3s
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#define MAX_DISCARD_BLOCK_NUM 2000 //最大认为系统丢弃block数量
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//block数据类型，目前主要用IMAGE
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typedef enum {
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BUFFER_PAYLOAD_TYPE_UNKNOWN = -1,
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BUFFER_PAYLOAD_TYPE_IMAGE = 0x0001,
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BUFFER_PAYLOAD_TYPE_RAWDATA = 0x0002,
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BUFFER_PAYLOAD_TYPE_FILE = 0x0003,
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BUFFER_PAYLOAD_TYPE_CHUNK_DATA = 0x0004,
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BUFFER_PAYLOAD_TYPE_EXTENDED_CHUNK_DATA = 0x0005, /* Deprecated */
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BUFFER_PAYLOAD_TYPE_JPEG = 0x0006,
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BUFFER_PAYLOAD_TYPE_JPEG2000 = 0x0007,
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BUFFER_PAYLOAD_TYPE_H264 = 0x0008,
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BUFFER_PAYLOAD_TYPE_MULTIZONE_IMAGE = 0x0009
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} BufferPayloadType;
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//block收到数据的状态
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typedef enum {
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BUFFER_STATUS_SUCCESS = 0,
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BUFFER_STATUS_UNKNOWN = -1,
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BUFFER_STATUS_CLEARED = -2,
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BUFFER_STATUS_TIMEOUT = -3,
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BUFFER_STATUS_MISSING_PACKETS = -4,
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BUFFER_STATUS_WRONG_PACKET_ID = -5,
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BUFFER_STATUS_WRONG_PACKET = -6,
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BUFFER_STATUS_SIZE_MISMATCH = -7,
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BUFFER_STATUS_FILLING = -8,
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BUFFER_STATUS_ABORTED = -9
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} BufferStatus;
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typedef struct {
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unsigned short status;
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unsigned short block_id;
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unsigned int packet_infos;
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} GvspHeader;
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typedef struct {
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unsigned short flags;
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unsigned short payload_type;
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unsigned int timestamp_high;
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unsigned int timestamp_low;
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unsigned int pixel_format;
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unsigned int width;
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unsigned int height;
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unsigned int x_offset;
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unsigned int y_offset;
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unsigned int gvsp_payload_size;
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} GvspDataLeader;
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typedef struct {
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unsigned int payload_type;
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unsigned int data0;
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} GvspDataTrailer;
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typedef struct {
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GvspHeader header;
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unsigned char data[1];
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} GvspPacket;
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typedef struct
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{
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AsyncQueue *in_buffer;
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AsyncQueue *out_buffer;
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}StreamDataBuffer;
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typedef struct {
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int received; //是否收到包的布尔量
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long long time_us; //重发该包请求的时间
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} StreamPacketData;
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typedef struct {
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PhotoInfo *buffer;
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unsigned int block_id;
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int buffer_status; //当前包的状态，最好并入到PhotoInfo中，发便用户层查看
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int last_valid_packet; //连续的有效包中的最后一包，用于重发时检查的起点
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long long first_packet_time_us; //收到首包的时间，用于后面的统计
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long long last_packet_time_us; //收到最后一包的时间，在完整性检查是查看是否超时
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int error_packet_received; //收到错误包，以此决定是不是可以将此包送到用户层
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int packet_resend_num; //每次重发包的次数，避免过多重发包请求干扰正常的GVCP通信。
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unsigned int n_packets; //一个block的总包数
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StreamPacketData *packet_data; //每包的信息
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} StreamBlockData;
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class GigeStream
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{
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public:
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GigeStream(DataStreamPrivateInfo *stream_private_info,
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unsigned short channel_index,
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int gvsp_socket_id,
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int interface_address,
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int device_address,
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int source_stream_port,
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int stream_port,
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int packet_size,
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long long timestamp_tick_frequency,
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cameralog *logfile);
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~GigeStream();
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int Capture(PhotoInfo *buffer);
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int TryCapture(PhotoInfo *buffer);
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int TimeoutCapture(PhotoInfo *buffer, long long timeout);
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void FlushBuffer();
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int SetMaxBufferLength(unsigned int length);
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int GetMaxBufferLength();
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void SetPacketResendFlag(unsigned int flag);
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int GetPacketResendFlag();
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int SetPacketResendRatio(double ratio);
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double GetPacketResendRatio();
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int SetSocketSelectTimeout(unsigned int timeout);
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int GetSocketSelectTimeout();
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int SetPacketTimeout(unsigned int timeout);
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int GetPacketTimeout();
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int SetBlockTimeout(unsigned int timeout);
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int GetBlockTimeout();
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int SetSendtoStreamPortBreakFirewallTimeout(unsigned int timeout);
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int GetSendtoStreamPortBreakFirewallTimeout();
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//Statistics();
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void GetBlockStatistics(
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unsigned int *completed_buffers,
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unsigned int *failures,
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unsigned int *timeouts,
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unsigned int *underruns,
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unsigned int *aborteds,
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unsigned int *missing_frames,
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unsigned int *block_camera_wrong,
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unsigned int *size_mismatch_errors);
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void GetPacketStatistics(
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unsigned int *received_packets,
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unsigned int *missing_packets,
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unsigned int *error_packets,
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unsigned int *ignored_packets,
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unsigned int *resend_requests,
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unsigned int *resent_packets,
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unsigned int *duplicated_packets);
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void GetRecieveTimeStatistics(StatisticsData *o_statistics_data);
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int GetNetSpeed();
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float GetBlockRate();
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int thread_exit;
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private:
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#ifdef _WIN32
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//接收点云数据线程
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static unsigned int _stdcall Stream_Thread(void* arg);
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#else
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static void* Stream_Thread(void* arg);
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#endif
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void loop();
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StreamBlockData* process_packet(GvspPacket *packet, int recv_num, long long time_us);
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StreamBlockData* find_block_data(GvspPacket *packet, unsigned int block_id, unsigned int packet_id, int recv_num, long long time_us);
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void process_packet_leader(StreamBlockData *block, GvspPacket *packet, unsigned int packet_id);
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void process_packet_payload(StreamBlockData *block, GvspPacket *packet, unsigned int packet_id, unsigned int recv_num);
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void process_packet_tailer(StreamBlockData *block, GvspPacket *packet, unsigned int packet_id);
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void packet_resend_check(StreamBlockData *block, unsigned int packet_id, long long time_us);
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void send_packet_request(unsigned int block_id, int resend_first_packet_id, int resend_last_packet_id);
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void write_recive_data(StreamBlockData *block);
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void check_block_complete(StreamBlockData *block,long long time_us);
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void capture_data_process(PhotoInfo *buffer, PhotoInfo *temp_buffer);
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void flush_blocks();
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void sendto_stream_source_data();
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void RecieveTimeStatistics(int data);
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void NetSpeedStatistics(int recv_num, long long time_us);
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void BlockRateStatistics(long long time_us);
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#ifdef _WIN32
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HANDLE stream_on_thread_id;
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#else
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pthread_t stream_on_thread_id;
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#endif
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unsigned short channel_index_;
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StreamDataBuffer stream_data;
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StatisticsData statistics_data;
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DataStreamPrivateInfo stream_private_info_;
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List *all_blocks;
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int gvsp_socket_id_;
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int resend_socket_id_;
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int interface_address_;
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//int *interface_socket_address;
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int device_address_;
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//int *device_socket_address;
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struct sockaddr_in resend_addr;
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struct sockaddr_in sendto_source_addr;
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unsigned short source_stream_port_;
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unsigned short stream_port_;
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long long timestamp_tick_frequency_;
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unsigned short resend_req_id;
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unsigned int last_block_id;
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unsigned int max_buffer_length_;
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unsigned int packet_payload_size_;
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unsigned int max_payload_size_;
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unsigned int current_buffer_length;
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int packet_resend_flag_;
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double packet_resend_ratio_;
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unsigned int socket_select_timeout_us_;
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unsigned int packet_timeout_us_;
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unsigned int block_timeout_us_;
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unsigned int sento_stream_source_time_us_;
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/* Statistics */
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//block部分的数据统计
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unsigned int n_completed_buffers;
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unsigned int n_failures;
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unsigned int n_timeouts;
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unsigned int n_underruns;
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unsigned int n_aborteds;
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unsigned int n_missing_frames;
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unsigned int n_block_camera_wrong;
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unsigned int n_size_mismatch_errors;
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//packet部分的数据统计
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unsigned int n_received_packets;
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unsigned int n_missing_packets;
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unsigned int n_error_packets;
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unsigned int n_ignored_packets;
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unsigned int n_resend_requests;
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unsigned int n_resent_packets;
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unsigned int n_duplicated_packets;
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//网速部分的统计，这里主要是时间，这段时间收到的数据量和以此计算出来的网速；
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long long n_start_time_us;
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long long n_recv_num_unit_time;
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unsigned int n_net_speed;
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long long n_block_start_time_us;
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unsigned int n_block_recv_num_unit_time;
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float n_block_rate;
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cameralog *logfilestream;
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//重发包计时
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time_t start_time_resend;
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time_t end_time_resend;
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};
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