client.h

Variables

const util::version ouster::sensor::min_version = {1, 12, 0, "", "", "", ""}

Minimum supported version.

Enums

enum ouster::sensor::client_state

Returned by poll_client.

Values:

enumerator TIMEOUT

Client has timed out.

enumerator CLIENT_ERROR

Client has reported an error.

enumerator LIDAR_DATA

New lidar data available.

enumerator IMU_DATA

New IMU data available.

enumerator EXIT

Client has exited.

enum ouster::sensor::config_flags

Flags for set_config()

Values:

enumerator CONFIG_UDP_DEST_AUTO

Set udp_dest automatically.

enumerator CONFIG_PERSIST

Make configuration persistent.

enumerator CONFIG_FORCE_REINIT

Forces the sensor to re-init during set_config even when config params have not changed

Functions

bool ouster::sensor::init_logger(const std::string &log_level, const std::string &log_file_path = "", bool rotating = false, int max_size_in_bytes = 0, int max_files = 0)

Initializes and configures ouster_client logs. This method should be invoked only once before calling any other method from the library if the user wants to direct the library log statements to a different medium (other than console which is the default).

Parameters:

  • log_level – [in] Control the level of log messages outputed by the client. Valid options are (case-sensitive): “trace”, “debug”, “info”, “warning”, “error”, “critical” and “off”.

  • log_file_path – [in] Path to location where log files are stored. The path must be in a location that the process has write access to. If an empty string is provided then the logs will be directed to the console. When an empty string is passed then the rest of parameters are ignored.

  • rotating – [in] Configure the log file with rotation, rotation rules are specified through the two following parameters max_size_in_bytes and max_files. If rotating is set to false the following parameters are ignored.

  • max_size_in_bytes – [in] Maximum number of bytes to write to a rotating log file before starting a new file. ignored if rotating is set to false.

  • max_files – [in] Maximum number of rotating files to accumlate before re-using the first file. ignored if rotating is set to false.

Returns:

true on success, otherwise false.

group ouster_client_init

Functions

std::shared_ptr<client> init_client(const std::string &hostname, int lidar_port, int imu_port)

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.

std::shared_ptr<client> init_client(const std::string &hostname, const std::string &udp_dest_host, lidar_mode ld_mode = MODE_UNSPEC, timestamp_mode ts_mode = TIME_FROM_UNSPEC, int lidar_port = 0, int imu_port = 0, int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS, bool persist_config = false, OperatingMode operating_mode = OPERATING_NORMAL)

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.

  • ld_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. When using zero the method will automatically acquire and assign any free port.

  • imu_port – [in] port on which the sensor will send imu data. When using zero the method will automatically acquire and assign any free port.

  • timeout_sec – [in] how long to wait for the sensor to initialize.

  • persist_config – [in] if true, persists sensor settings between restarts

  • operating_mode – [in] The lidar operating mode. When using zero the method will leave the sensor in its current operating mode.

Returns:

pointer owning the resources associated with the connection.

std::shared_ptr<client> mtp_init_client(const std::string &hostname, const sensor_config &config, const std::string &mtp_dest_host, bool main, int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS, bool persist_config = false)

[BETA] Connect to and configure the sensor and start listening for data via multicast.

Remark

when main flag is set the config object will be used to configure the sensor, otherwise only the port values within the config object will be used and the rest will be ignored.

Parameters:

  • hostname – [in] hostname or ip of the sensor.

  • config – [in] sensor config to set on sensor.

  • mtp_dest_host – [in] the address of the host network interface that should join the multicast group; if empty, use any appropriate interface.

  • main – [in] a flag that indicates this is the main connection to the sensor in an multicast setup.

  • timeout_sec – [in] how long to wait for the sensor to initialize.

  • persist_config – [in] if true, persists sensor settings between restarts

Returns:

pointer owning the resources associated with the connection.

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_packet() and read_imu_packet() 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.

bool ouster::sensor::read_lidar_packet(const client &cli, LidarPacket &packet)

Read lidar data from the sensor. Will not block.

Parameters:

  • cli – [in] client returned by init_client associated with the connection.

  • packet – [out] A LidarPacket to store lidar data read from a sensor. Expects the packet to have correct number of bytes allocated for the packet. In addition, the LidarPacket’s host_timestamp attribute is also set.

Returns:

true if a lidar packet was successfully read.

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.

bool ouster::sensor::read_lidar_packet(const client &cli, uint8_t *buf, size_t bytes)

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 bytes + 1 bytes.

  • bytes – [in] expected number of bytes in the packet

Returns:

true if a lidar packet was successfully read.

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.

bool ouster::sensor::read_imu_packet(const client &cli, uint8_t *buf, size_t bytes)

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 lidar data. Must be at least bytes + 1 bytes.

  • bytes – [in] expected number of bytes in the packet

Returns:

true if a lidar packet was successfully read.

std::string ouster::sensor::get_metadata(client &cli, int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS)

Get metadata text blob from the sensor.

Will attempt to fetch from the network if not already populated.

Throws:

runtime_error – if the sensor is in ERROR state, the firmware version used to initialize the HTTP or TCP client is invalid, the metadata could not be retrieved from the sensor within the timeout period, a timeout occured while waiting for the sensor to finish initializing, or the response could not be parsed.

Parameters:

  • cli – [in] client returned by init_client associated with the connection.

  • timeout_sec – [in] how long to wait for the sensor to initialize.

Returns:

a text blob of metadata parseable into a sensor_info struct.

bool ouster::sensor::get_config(const std::string &hostname, sensor_config &config, bool active = true, int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS)

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.

  • timeout_sec – [in] set the timeout for the request, this argument is optional.

Returns:

true if sensor config successfully populated.

bool ouster::sensor::set_config(const std::string &hostname, const sensor_config &config, uint8_t config_flags = 0, int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS)

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.

  • timeout_sec – [in] timeout in seconds for http requests

Returns:

true if config params successfuly set on sensor.

int ouster::sensor::get_lidar_port(const 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.

int ouster::sensor::get_imu_port(const 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.

bool ouster::sensor::in_multicast(const std::string &addr)

Check if ip address in multicast range.

Parameters:

addr – [in] ip address to test.

Returns:

true if addr is in multicast range.