Class SensorPacketSource

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

  • public ouster::sdk::core::PacketSource (Class PacketSource)

  • private ouster::sdk::impl::PacketSourceBuilderMulti< ouster::sdk::core::IoType::SENSOR, SensorPacketSource >

Class Documentation

class SensorPacketSource : public ouster::sdk::core::PacketSource, private ouster::sdk::impl::PacketSourceBuilderMulti<ouster::sdk::core::IoType::SENSOR, SensorPacketSource>

An interface to configure and retrieve packets from one or multiple lidars.

Public Functions

SensorPacketSource(const std::string &sensor, SensorPacketSourceOptions options)

Construct a sensor packet source for a single sensor.

Parameters:

  • sensor[in] sensor hostname

  • options[in] source options

SensorPacketSource(const std::vector<std::string> &sources, SensorPacketSourceOptions options)

Construct a sensor packet source for a multiple sensors.

Parameters:

  • sources[in] sensor hostnames

  • options[in] source options

SensorPacketSource(const std::string &source, const std::function<void(SensorPacketSourceOptions&)> &options = {})

Construct a sensor packet source for a single sensor.

Parameters:

  • source[in] sensor hostname

  • options[in] source options

SensorPacketSource(const std::vector<std::string> &source, const std::function<void(SensorPacketSourceOptions&)> &options = {})

Construct a sensor packet source for multiple sensors.

Parameters:

  • source[in] sensor hostnames

  • options[in] source options

SensorPacketSource(const std::vector<Sensor> &sensors, double config_timeout_sec = 45, double buffer_time_sec = 0)

Build a sensor client to retrieve packets for the provided sensors.

Configures the sensors if necessary according to their desired configs.

Parameters:

  • sensors[in] sensors to connect to

  • config_timeout_sec[in] timeout for sensor config

  • buffer_time_sec[in] time in seconds to buffer packets for. If zero no buffering is performed outside of the OS.

SensorPacketSource(const std::vector<Sensor> &sensors, const std::vector<ouster::sdk::core::SensorInfo> &infos, double config_timeout_sec = 45, double buffer_time_sec = 0, bool reuse_ports = false)

Build a sensor client to retrieve packets for the provided sensors.

If provided, uses the provided metadata for each sensor rather configuring and retrieving them from each sensor.

Parameters:

  • sensors[in] sensors to connect to

  • infos[in] metadata for each sensor, if present used instead of configuring each sensor

  • config_timeout_sec[in] timeout for sensor config

  • buffer_time_sec[in] time in seconds to buffer packets for. If zero no buffering is performed outside of the OS.

  • reuse_ports[in] If true bind ports with port reuse enabled

~SensorPacketSource() override

Destruct the sensor client.

ClientEvent get_packet(double timeout_sec)

Retrieve a packet from the sensor with a given timeout.

timeout_sec of 0 = return immediately, timeout_sec < 0 = wait forever Important: may return a timeout event if the underlying condition var experiences a spurious wakeup.

Parameters:

timeout_sec[in] timeout in seconds to wait for a packet

Returns:

a ClientEvent representing the result of the call

uint64_t dropped_packets()

Get the number of packets dropped due to buffer overflow.

Returns:

the number of dropped packets

void flush()

Flush the internal packet buffer (if enabled)

size_t buffer_size()

Get the number of packets in the internal buffer.

Returns:

the number of packets in the internal buffer

virtual core::PacketIterator begin() const override

Get begin iterator for container.

Provides each scan from all sensors in time order

Returns:

iterator to first item in source

virtual bool is_live() const override

Indicates if the source is streaming from a device, such as a sensor.

Returns:

if live or not

virtual const std::vector<std::shared_ptr<ouster::sdk::core::SensorInfo>> &sensor_info() const override

Get the SensorInfo for each sensor in the source.

Returns:

info about each sensor

Friends

friend class SensorPacketIteratorImpl
friend class SensorScanSource