.. _program_listing_file_include_ros2_ouster_ouster_driver.hpp:

Program Listing for File ouster_driver.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_ouster_driver.hpp>` (``include/ros2_ouster/ouster_driver.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__OUSTER_DRIVER_HPP_
   #define ROS2_OUSTER__OUSTER_DRIVER_HPP_
   
   #include <memory>
   #include <map>
   #include <string>
   
   #include "ros2_ouster/conversions.hpp"
   
   #include "ros2_ouster/interfaces/lifecycle_interface.hpp"
   
   #include "sensor_msgs/msg/image.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   #include "sensor_msgs/msg/imu.hpp"
   #include "std_srvs/srv/empty.hpp"
   #include "ouster_msgs/srv/get_metadata.hpp"
   
   #include "tf2_ros/static_transform_broadcaster.h"
   
   #include "ros2_ouster/interfaces/configuration.hpp"
   #include "ros2_ouster/interfaces/data_processor_interface.hpp"
   
   namespace ros2_ouster
   {
   
   class SensorInterface;
   
   class OusterDriver : public lifecycle_interface::LifecycleInterface
   {
   public:
     using DataProcessorMap = std::multimap<ClientState, DataProcessorInterface *>;
     using DataProcessorMapIt = DataProcessorMap::iterator;
   
     OusterDriver(
       std::unique_ptr<SensorInterface> sensor,
       const rclcpp::NodeOptions & options);
   
     ~OusterDriver();
   
     void onConfigure() override;
   
     void onActivate() override;
   
     void onDeactivate() override;
   
     void onError() override;
   
     void onShutdown() override;
   
     void onCleanup() override;
   
   private:
     void processData();
   
     void broadcastStaticTransforms(const ros2_ouster::Metadata & mdata);
   
     void resetService(
       const std::shared_ptr<rmw_request_id_t>/*request_header*/,
       const std::shared_ptr<std_srvs::srv::Empty::Request> request,
       std::shared_ptr<std_srvs::srv::Empty::Response> response);
   
     void getMetadata(
       const std::shared_ptr<rmw_request_id_t>/*request_header*/,
       const std::shared_ptr<ouster_msgs::srv::GetMetadata::Request> request,
       std::shared_ptr<ouster_msgs::srv::GetMetadata::Response> response);
   
     rclcpp::Service<std_srvs::srv::Empty>::SharedPtr _reset_srv;
     rclcpp::Service<ouster_msgs::srv::GetMetadata>::SharedPtr _metadata_srv;
   
     std::unique_ptr<SensorInterface> _sensor;
     std::multimap<ClientState, DataProcessorInterface *> _data_processors;
     rclcpp::TimerBase::SharedPtr _process_timer;
   
     std::string _laser_sensor_frame, _laser_data_frame, _imu_data_frame;
     std::unique_ptr<tf2_ros::StaticTransformBroadcaster> _tf_b;
   
     bool _use_system_default_qos;
     bool _use_ros_time;
   
     std::uint32_t _os1_proc_mask;
   };
   
   }  // namespace ros2_ouster
   
   #endif  // ROS2_OUSTER__OUSTER_DRIVER_HPP_