PcapGlobalHeader pcapGlobalHeader;

fd = open(filename, O_RDONLY, S_IREAD);

read(fd, &pcapGlobalHeader, sizeof(PcapGlobalHeader)); /* this is overhead at beginning of file */

int type;

memset(&packetHeader, 0, sizeof(packetHeader));

memset(&lidarPacketHeader, 0, sizeof(lidarPacketHeader));

int size = read(fd, &packetHeader, sizeof(packetHeader));

size = packetHeader.orig_len;

read(fd, &lidarPacketHeader, sizeof(LidarPacketHeader));

if (size == (lidarDataPacketSize + sizeof(LidarPacketHeader))) {

read(fd, &lidarDataPacket, lidarDataPacketSize);

*p = (void *)&lidarDataPacket;

type = TypeLidarDataPacket;

} else if (size == (lidarPositionPacketSize + sizeof(LidarPacketHeader))) {

read(fd, &lidarPositionPacket, lidarPositionPacketSize);

*p = (void *)&lidarPositionPacket;

type = TypeLidarPositionPacket;

} else {

*p = 0;

type = LidarPacketTypes;

}

return type;