client.h
Client Initialization
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std::shared_ptr<client> init_client(const std::string &hostname = "", int lidar_port = 7502, int imu_port = 7503)
Listen for sensor data on the specified ports; do not configure the sensor.
- Parameters
hostname – [in] The hostname to connect to.
lidar_port – [in] port on which the sensor will send lidar data.
imu_port – [in] port on which the sensor will send imu data.
- Returns
pointer owning the resources associated with the connection.
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std::shared_ptr<client> init_client(const std::string &hostname, const std::string &udp_dest_host, lidar_mode mode = MODE_UNSPEC, timestamp_mode ts_mode = TIME_FROM_UNSPEC, int lidar_port = 0, int imu_port = 0, int timeout_sec = 60)
Connect to and configure the sensor and start listening for data.
- Parameters
hostname – [in] hostname or ip of the sensor.
udp_dest_host – [in] hostname or ip where the sensor should send data or “” for automatic detection of destination.
mode – [in] The lidar mode to use.
ts_mode – [in] The timestamp mode to use.
lidar_port – [in] port on which the sensor will send lidar data.
imu_port – [in] port on which the sensor will send imu data.
timeout_sec – [in] how long to wait for the sensor to initialize.
- Returns
pointer owning the resources associated with the connection.
Data Fetching
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client_state ouster::sensor::poll_client(const client &cli, int timeout_sec = 1)
Block for up to timeout_sec until either data is ready or an error occurs.
NOTE: will return immediately if LIDAR_DATA or IMU_DATA are set and not cleared by read_lidar_data() and read_imu_data() before the next call.
- Parameters
cli – [in] client returned by init_client associated with the connection.
timeout_sec – [in] seconds to block while waiting for data.
- Returns
client_state s where (s & ERROR) is true if an error occured, (s & LIDAR_DATA) is true if lidar data is ready to read, and (s & IMU_DATA) is true if imu data is ready to read.
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bool ouster::sensor::read_lidar_packet(const client &cli, uint8_t *buf, const packet_format &pf)
Read lidar data from the sensor. Will not block.
- Parameters
cli – [in] client returned by init_client associated with the connection.
buf – [out] buffer to which to write lidar data. Must be at least.\ lidar_packet_bytes + 1 bytes.
pf – [in] The packet format.
- Returns
true if a lidar packet was successfully read.
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bool ouster::sensor::read_imu_packet(const client &cli, uint8_t *buf, const packet_format &pf)
Read imu data from the sensor. Will not block.
- Parameters
cli – [in] client returned by init_client associated with the connection.
buf – [out] buffer to which to write imu data. Must be at least imu_packet_bytes + 1 bytes.
pf – [in] The packet format.
- Returns
true if an imu packet was successfully read.
Config And Metadata
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std::string ouster::sensor::get_metadata(client &cli, int timeout_sec = 60, bool legacy_format = true)
Get metadata text blob from the sensor.
Will attempt to fetch from the network if not already populated.
- Parameters
cli – [in] client returned by init_client associated with the connection.
timeout_sec – [in] how long to wait for the sensor to initialize.
legacy_format – [in] whether to use legacy format of metadata output.
- Returns
a text blob of metadata parseable into a sensor_info struct.
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bool ouster::sensor::get_config(const std::string &hostname, sensor_config &config, bool active = true)
Get sensor config from the sensor.
Populates passed in config with the results of get_config.
- Parameters
hostname – [in] sensor hostname.
config – [out] sensor config to populate.
active – [in] whether to pull active or passive configs.
- Returns
true if sensor config successfully populated.
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bool ouster::sensor::set_config(const std::string &hostname, const sensor_config &config, uint8_t config_flags = 0)
Set sensor config on sensor.
- Throws
runtime_error – on failure to communcate with the sensor.
invalid_argument – when config parameters fail validation.
- Parameters
hostname – [in] sensor hostname.
config – [in] sensor config.
config_flags – [in] flags to pass in.
- Returns
true if config params successfuly set on sensor.
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enum ouster::sensor::config_flags
Flags for set_config()
Values:
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enumerator CONFIG_UDP_DEST_AUTO
Set udp_dest automatically.
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enumerator CONFIG_PERSIST
Make configuration persistent.
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enumerator CONFIG_UDP_DEST_AUTO
Network Operations
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int ouster::sensor::get_lidar_port(client &cli)
Return the port used to listen for lidar UDP data.
- Parameters
cli – [in] client returned by init_client associated with the connection.
- Returns
the port number.
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int ouster::sensor::get_imu_port(client &cli)
Return the port used to listen for imu UDP data.
- Parameters
cli – [in] client returned by init_client associated with the connection.
- Returns
the port number.