Program Listing for File sensor_interface.hpp

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// 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_