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_