os1.h

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#pragma once

#include <cstdint>
#include <memory>
#include <string>

namespace ouster {
namespace OS1 {

const size_t lidar_packet_bytes = 12608;
const size_t imu_packet_bytes = 48;

struct client;

enum client_state { ERROR = 1, LIDAR_DATA = 2, IMU_DATA = 4 };

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

client_state poll_client(const client& cli);

bool read_lidar_packet(const client& cli, uint8_t* buf);

bool read_imu_packet(const client& cli, uint8_t* buf);

typedef enum {
      MODE_512x10=0,
      MODE_1024x10=1,
      MODE_2048x10=2,
      MODE_512x20=3,
      MODE_1024x20=4
} operation_mode_t;
using OperationMode = operation_mode_t;

typedef enum {
      PULSE_STANDARD=0,
      PULSE_NARROW=1,
} pulse_mode_t;
using PulseMode = pulse_mode_t;
void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection);

}
}