.. _program_listing_file_include_ros2_ouster_OS1_OS1_sensor.hpp:

Program Listing for File OS1_sensor.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_OS1_OS1_sensor.hpp>` (``include/ros2_ouster/OS1/OS1_sensor.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__OS1__OS1_SENSOR_HPP_
   #define ROS2_OUSTER__OS1__OS1_SENSOR_HPP_
   
   #include <memory>
   #include <vector>
   
   #include "ros2_ouster/OS1/processor_factories.hpp"
   
   #include "ros2_ouster/interfaces/data_processor_interface.hpp"
   #include "ros2_ouster/interfaces/sensor_interface.hpp"
   #include "ros2_ouster/OS1/OS1.hpp"
   
   namespace OS1
   {
   
   class OS1Sensor : public ros2_ouster::SensorInterface
   {
   public:
     OS1Sensor();
   
     ~OS1Sensor() override;
   
     void reset(const ros2_ouster::Configuration & config) override;
   
     void configure(const ros2_ouster::Configuration & config) override;
   
     ros2_ouster::Metadata getMetadata() override;
   
     ros2_ouster::ClientState get() override;
   
     uint8_t * readPacket(const ros2_ouster::ClientState & state) override;
   
   private:
     std::shared_ptr<client> _ouster_client;
     std::vector<uint8_t> _lidar_packet;
     std::vector<uint8_t> _imu_packet;
   };
   
   }  // namespace OS1
   
   #endif  // ROS2_OUSTER__OS1__OS1_SENSOR_HPP_