sensor_packet_source.h

Class

class ClientError : public std::runtime_error

Subclassed by ouster::sensor::ClientOverflow, ouster::sensor::ClientTimeout

class ClientEvent

Public Types

enum EventType

Types of events that can occur.

Values:

enumerator Error

An error occurred in the SensorClient, it may no longer function.

enumerator Exit

The client has been closed and will not return any more packets.

enumerator PollTimeout

get_packet has timed out waiting for an event/packet

enumerator Packet

An packet from a sensor.

Public Members

int source

negative if not applicable to a source, like PollTimeout or Error

EventType type

The type of event that occurred.

class ClientOverflow : public ouster::sensor::ClientError
class ClientTimeout : public ouster::sensor::ClientError
class Sensor

Class that indicates a sensor and its desired configuration.

Public Functions

Sensor(const std::string &hostname, const sensor_config &config)

Construct a sensor descriptor with the given hostname and desired config.

Parameters:

  • hostname – [in] sensor hostname

  • config – [in] desired sensor configuration

sensor_info fetch_metadata(int timeout = 10) const

Queries the sensor metadata.

Parameters:

timeout – [in] timeout for the request in seconds

Returns:

the parsed sensor_info object containing the metadata.

std::shared_ptr<ouster::sensor::util::SensorHttp> http_client() const

Get a SensorHttp client for this sensor.

Returns:

the SensorHttp client

inline const sensor_config &desired_config() const

Get the desired config of this sensor.

Returns:

the desired config

inline const std::string &hostname() const

Get the hostname of this sensor.

Returns:

the sensor hostname

class SensorPacketSource : public ouster::core::PacketSource, private ouster::impl::PacketSourceBuilderMulti<ouster::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::sensor::sensor_info> &infos, double config_timeout_sec = 45, double buffer_time_sec = 0)

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.

~SensorPacketSource()

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::sensor::sensor_info>> &sensor_info() const override

Get the sensor_info for each sensor in the source

Returns:

info about each sensor

Structs

struct Addr4
struct Addr6
struct BufferEvent
struct InternalEvent
struct SensorPacketSourceOptions : private ouster::PacketSourceOptions

SensorScanSource specific configuration options.

Public Functions

void check(const char *source_type) const

Check if any parameters are unused

Parameters:

source_type – [in] name of source type

Throws:

std::runtime_error – if any parameters are unused

Public Members

impl::Parameter<float> buffer_time_sec

If > 0.0 buffer packets for this long internally Useful if you may not be retrieving packets from the source consistently

impl::Parameter<float> config_timeout

timeout for http endpoints while configuring the sensor

impl::Parameter<bool> do_not_reinitialize

If true, do not change any settings on the sensor or reinitialize it.

impl::Parameter<std::vector<Eigen::Matrix<double, 4, 4, Eigen::RowMajor>>> extrinsics

list of extrinsics matrices to apply to the sensor with the same index, overrides any extrinsics loaded from file

impl::Parameter<std::string> extrinsics_file

file to load extrinsics from

impl::Parameter<nonstd::optional<uint16_t>> imu_port

if set, the imu udp port to use with the sensor

impl::Parameter<nonstd::optional<uint16_t>> lidar_port

if set, the lidar udp port to use with the sensor

impl::Parameter<bool> no_auto_udp_dest

If true, do not change the udp_dest configuration option on the sensor.

impl::Parameter<std::vector<ouster::sensor::sensor_config>> sensor_config

Configuration to apply to the sensors.

impl::Parameter<std::vector<ouster::sensor::sensor_info>> sensor_info

Override sensor info. If provided used instead of talking to the sensor.

impl::Parameter<float> timeout

timeout for receiving packets from the sensor