Function ouster::sensor::poll_client

Function Documentation

client_state ouster::sensor::poll_client(const client &cli, int timeout_sec = 1)

Block for up to timeout_sec until either data is ready or an error occurs.

NOTE: will return immediately if LIDAR_DATA or IMU_DATA are set and not cleared by read_lidar_data() and read_imu_data() before the next call

Parameters:

  • cli – client returned by init_client associated with the connection

  • timeout_sec – seconds to block while waiting for data

Returns:

client_state s where (s & ERROR) is true if an error occured, (s & LIDAR_DATA) is true if lidar data is ready to read, and (s & IMU_DATA) is true if imu data is ready to read