.. _program_listing_file_include_ros2_ouster_interfaces_sensor_interface.hpp:

Program Listing for File sensor_interface.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_interfaces_sensor_interface.hpp>` (``include/ros2_ouster/interfaces/sensor_interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020, Steve Macenski
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROS2_OUSTER__INTERFACES__SENSOR_INTERFACE_HPP_
   #define ROS2_OUSTER__INTERFACES__SENSOR_INTERFACE_HPP_
   
   #include <memory>
   
   #include "ros2_ouster/interfaces/metadata.hpp"
   #include "ros2_ouster/interfaces/configuration.hpp"
   #include "ros2_ouster/interfaces/data_processor_interface.hpp"
   
   namespace ros2_ouster
   {
   class SensorInterface
   {
   public:
     using SharedPtr = std::shared_ptr<SensorInterface>;
     using Ptr = std::unique_ptr<SensorInterface>;
   
     SensorInterface() {}
   
     virtual ~SensorInterface() = default;
   
     // copy
     SensorInterface(const SensorInterface &) = delete;
     SensorInterface & operator=(const SensorInterface &) = delete;
   
     // move
     SensorInterface(SensorInterface &&) = default;
     SensorInterface & operator=(SensorInterface &&) = default;
   
     virtual void reset(const ros2_ouster::Configuration & config) = 0;
   
     virtual void configure(const ros2_ouster::Configuration & config) = 0;
   
     virtual ros2_ouster::ClientState get() = 0;
   
     virtual uint8_t * readPacket(const ros2_ouster::ClientState & state) = 0;
   
     virtual ros2_ouster::Metadata getMetadata() = 0;
   };
   
   }  // namespace ros2_ouster
   
   #endif  // ROS2_OUSTER__INTERFACES__SENSOR_INTERFACE_HPP_