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Update for fw 1.14-beta.10. See changelog for details
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,24 +1,23 @@ | ||
| # OS1 Example Client | ||
| # Example Sensor Client | ||
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| ## Contents | ||
| * `ouster_client/` contains a simple C++ client for the OS1 sensor that | ||
| prints lidar data to the terminal | ||
| * `ouster_client/` contains a simple C++ client application that prints lidar | ||
| data to the terminal | ||
| * can be built both with and without ROS. See the instructions in | ||
| [ouster_ros/](../ouster_ros/README.md) for building in a ROS environment | ||
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|
||
| ## Building the Sample Client | ||
| * The sample client requires a compiler supporting C++11 or newer and | ||
| CMake | ||
| * Build with `cd /path/to/ouster_example/ouster_client && mkdir build | ||
| && cd build && cmake .. && make` where `/path/to/ouster_example` is where you've cloned the repository | ||
| * The sample client requires a compiler supporting C++11 or newer and CMake | ||
| * Build with `cd /path/to/ouster_example/ouster_client && mkdir build && cd | ||
| build && cmake .. && make` where `/path/to/ouster_example` is where you've | ||
| cloned the repository | ||
|
|
||
| ## Running the Sample Client | ||
| * Make sure the OS1 is connected to the network and has obtained a | ||
| DHCP lease. See section 3.1 in the accompanying | ||
| * Make sure the sensor is connected to the network and has obtained a DHCP | ||
| lease. See section 3.1 in the accompanying | ||
| [software user guide](https://www.ouster.io/downloads) for more details | ||
| * An executable called `ouster_client_example` is generated in the build | ||
| * An executable called `ouster_client_example` is generated in the build | ||
| directory on success | ||
| * Run `./ouster_client_example <os1_hostname> <udp_data_dest_ip>` where | ||
| `<os1_hostname>` is the hostname or IP address of the OS1 sensor, | ||
| and `<udp_data_dest_ip>` is the IP to which the sensor should send | ||
| lidar data | ||
| * Run `./ouster_client_example <sensor_hostname> <udp_data_dest_ip>` where | ||
| `<sensor_hostname>` is the hostname or IP address of the sensor, and | ||
| `<udp_data_dest_ip>` is the IP to which the sensor should send lidar data |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| /** | ||
| * @file | ||
| * @brief sample sensor client | ||
| */ | ||
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| #pragma once | ||
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| #include <cstdint> | ||
| #include <memory> | ||
| #include <string> | ||
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| #include "ouster/types.h" | ||
| #include "ouster/version.h" | ||
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| namespace ouster { | ||
| namespace sensor { | ||
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| struct client; | ||
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| enum client_state { | ||
| TIMEOUT = 0, | ||
| CLIENT_ERROR = 1, | ||
| LIDAR_DATA = 2, | ||
| IMU_DATA = 4, | ||
| EXIT = 8 | ||
| }; | ||
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| /** | ||
| * Minimum supported version | ||
| */ | ||
| const util::version min_version = {1, 12, 0}; | ||
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| /** | ||
| * Listen for sensor data on the specified ports; do not configure the sensor | ||
| * @param lidar_port port on which the sensor will send lidar data | ||
| * @param imu_port port on which the sensor will send imu data | ||
| * @return pointer owning the resources associated with the connection | ||
| */ | ||
| std::shared_ptr<client> init_client(const std::string& hostname = "", | ||
| int lidar_port = 7502, int imu_port = 7503); | ||
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| /** | ||
| * Connect to and configure the sensor and start listening for data | ||
| * @param hostname hostname or ip of the sensor | ||
| * @param udp_dest_host hostname or ip where the sensor should send data | ||
| * @param lidar_port port on which the sensor will send lidar data | ||
| * @param imu_port port on which the sensor will send imu data | ||
| * @param timeout_sec how long to wait for the sensor to initialize | ||
| * @return 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 mode = MODE_UNSPEC, | ||
| timestamp_mode ts_mode = TIME_FROM_UNSPEC, | ||
| int lidar_port = 0, int imu_port = 0, | ||
| int timeout_sec = 30); | ||
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| /** | ||
| * 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 | ||
| * @param cli client returned by init_client associated with the connection | ||
| * @param timeout_sec seconds to block while waiting for data | ||
| * @return 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 | ||
| */ | ||
| client_state poll_client(const client& cli, int timeout_sec = 1); | ||
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| /** | ||
| * Read lidar data from the sensor. Will not block | ||
| * @param cli client returned by init_client associated with the connection | ||
| * @param buf buffer to which to write lidar data. Must be at least | ||
| * lidar_packet_bytes + 1 bytes | ||
| * @return true if a lidar packet was successfully read | ||
| */ | ||
| bool read_lidar_packet(const client& cli, uint8_t* buf, | ||
| const packet_format& pf); | ||
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| /** | ||
| * Read imu data from the sensor. Will not block | ||
| * @param cli client returned by init_client associated with the connection | ||
| * @param buf buffer to which to write imu data. Must be at least | ||
| * imu_packet_bytes + 1 bytes | ||
| * @return true if an imu packet was successfully read | ||
| */ | ||
| bool read_imu_packet(const client& cli, uint8_t* buf, const packet_format& pf); | ||
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| /** | ||
| * Get metadata text blob from the sensor. Attempt to fetch from the network if | ||
| * not already populated | ||
| * @param cli client returned by init_client associated with the connection | ||
| * @param timeout_sec how long to wait for the sensor to initialize | ||
| * @return a text blob of metadata parseable into a sensor_info struct | ||
| */ | ||
| std::string get_metadata(client& cli, int timeout_sec = 30); | ||
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| } // namespace sensor | ||
| } // namespace ouster |
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