def test_parse_config() -> None:
"""Sanity check parsing from json string."""
with pytest.raises(ValueError):
client.SensorConfig('/')
with pytest.raises(ValueError):
client.SensorConfig('{ ')
def test_optional_config() -> None:
"""Check that all fields are optional."""
config = client.SensorConfig()
# make sure all the values are empty
assert config.azimuth_window is None
assert config.lidar_mode is None
assert config.multipurpose_io_mode is None
assert config.nmea_baud_rate is None
assert config.nmea_in_polarity is None
assert config.nmea_ignore_valid_char is None
assert config.nmea_leap_seconds is None
assert config.operating_mode is None
assert config.phase_lock_enable is None
assert config.phase_lock_offset is None
assert config.signal_multiplier is None
assert config.sync_pulse_out_pulse_width is None
assert config.sync_pulse_out_frequency is None
assert config.sync_pulse_in_polarity is None
assert config.sync_pulse_out_angle is None
assert config.sync_pulse_out_polarity is None
assert config.timestamp_mode is None
assert config.udp_dest is None
assert config.udp_port_imu is None
assert config.udp_port_lidar is None
def test_copy_config(complete_config_string: str) -> None:
"""Check that copy() works."""
config = client.SensorConfig(complete_config_string)
config1 = copy(config)
assert config1 is not config
assert config1 == config
def test_read_config(complete_config_string: str) -> None:
"""Check reading from and writing to string."""
config = client.SensorConfig(complete_config_string) # read from string
# make sure all the values are correct
assert config.azimuth_window == (0, 360000)
assert config.lidar_mode == client.LidarMode.MODE_1024x10
assert config.multipurpose_io_mode == client.MultipurposeIOMode.MULTIPURPOSE_OFF
assert config.nmea_baud_rate == client.NMEABaudRate.BAUD_9600
assert config.nmea_in_polarity == client.Polarity.POLARITY_ACTIVE_HIGH
assert config.nmea_ignore_valid_char is False
assert config.nmea_leap_seconds == 0
assert config.operating_mode == client.OperatingMode.OPERATING_NORMAL
assert config.phase_lock_enable is False
assert config.phase_lock_offset == 0
assert config.signal_multiplier == 2
assert config.sync_pulse_out_pulse_width == 10
assert config.sync_pulse_out_frequency == 1
assert config.sync_pulse_in_polarity == client.Polarity.POLARITY_ACTIVE_HIGH
assert config.sync_pulse_out_angle == 360
assert config.sync_pulse_out_polarity == client.Polarity.POLARITY_ACTIVE_HIGH
assert config.timestamp_mode == client.TimestampMode.TIME_FROM_INTERNAL_OSC
assert config.udp_dest == ""
assert config.udp_port_imu == 7503
assert config.udp_port_lidar == 7502
# check output of string
assert ''.join(str(config).split()) == ''.join(
complete_config_string.split())
def test_write_config() -> None:
"""Check modifying config."""
config = client.SensorConfig()
config.azimuth_window = (0, 0)
config.lidar_mode = client.LidarMode.MODE_512x10
config.multipurpose_io_mode = client.MultipurposeIOMode.MULTIPURPOSE_INPUT_NMEA_UART
config.nmea_baud_rate = client.NMEABaudRate.BAUD_9600
config.nmea_in_polarity = client.Polarity.POLARITY_ACTIVE_LOW
config.nmea_ignore_valid_char = True
config.nmea_leap_seconds = 20
config.operating_mode = client.OperatingMode.OPERATING_STANDBY
config.phase_lock_enable = True
config.phase_lock_offset = 180000
config.signal_multiplier = 2
config.sync_pulse_out_pulse_width = 5
config.sync_pulse_out_frequency = 2
config.sync_pulse_in_polarity = client.Polarity.POLARITY_ACTIVE_HIGH
config.sync_pulse_out_angle = 300
config.sync_pulse_out_polarity = client.Polarity.POLARITY_ACTIVE_LOW
config.timestamp_mode = client.TimestampMode.TIME_FROM_PTP_1588
config.udp_dest = "udp-dest"
config.udp_port_imu = 84
config.udp_port_lidar = 3827
with pytest.raises(TypeError):
config.lidar_mode = 1 # type: ignore
with pytest.raises(TypeError):
config.sync_pulse_in_polarity = client.MultipurposeIOMode.MULTIPURPOSE_OFF # type: ignore
def main() -> None:
descr = """Visualize pcap or sensor data using simple viz bindings."""
epilog = """When reading data from a sensor, this will autoconfigure the udp
destination unless -x is used."""
parser = argparse.ArgumentParser(description=descr, epilog=epilog)
required = parser.add_argument_group('one of the following is required')
group = required.add_mutually_exclusive_group(required=True)
group.add_argument('--sensor', metavar='HOST', help='sensor hostname')
group.add_argument('--pcap', metavar='PATH', help='path to pcap file')
parser.add_argument('--meta', metavar='PATH', help='path to metadata json')
parser.add_argument('--lidar-port', type=int, help='lidar port for sensor')
parser.add_argument('-x',
'--no-auto-dest',
action='store_true',
help='do not auto configure udp destination')
args = parser.parse_args()
if args.sensor:
hostname = args.sensor
if args.lidar_port or (not args.no_auto_dest):
config = client.SensorConfig()
if args.lidar_port:
config.udp_port_lidar = args.lidar_port
print("Configuring sensor...")
client.set_config(hostname,
config,
udp_dest_auto=(not args.no_auto_dest))
config = client.get_config(hostname)
print("Initializing...")
scans = client.Scans.stream(hostname,
config.udp_port_lidar or 7502,
complete=False)
rate = None
elif args.pcap:
import ouster.pcap as pcap
if args.meta:
metadata_path = args.meta
else:
print("Deducing metadata based on pcap name. "
"To provide a different metadata path, use --meta")
metadata_path = os.path.splitext(args.pcap)[0] + ".json"
with open(metadata_path) as json:
info = client.SensorInfo(json.read())
scans = client.Scans(pcap.Pcap(args.pcap, info))
rate = 1.0
SimpleViz(scans.metadata, rate).run(scans)
def test_equality_config(complete_config_string: str) -> None:
"""Check equality comparisons."""
complete_config_1 = client.SensorConfig(complete_config_string)
complete_config_2 = client.SensorConfig(complete_config_string)
assert complete_config_1 == complete_config_2
complete_config_2.multipurpose_io_mode = client.MultipurposeIOMode.MULTIPURPOSE_OUTPUT_FROM_PTP_1588
assert complete_config_1 != complete_config_2
partial_config_1 = client.SensorConfig()
partial_config_1.nmea_baud_rate = client.NMEABaudRate.BAUD_115200
partial_config_1.operating_mode = client.OperatingMode.OPERATING_STANDBY
partial_config_2 = client.SensorConfig()
partial_config_2.nmea_baud_rate = client.NMEABaudRate.BAUD_115200
partial_config_2.operating_mode = client.OperatingMode.OPERATING_STANDBY
assert partial_config_1 == partial_config_2
partial_config_2.operating_mode = client.OperatingMode.OPERATING_NORMAL
assert partial_config_1 != partial_config_2
empty_config_1 = client.SensorConfig()
empty_config_2 = client.SensorConfig()
assert empty_config_1 == empty_config_2
assert complete_config_1 != empty_config_1
assert complete_config_1 != partial_config_1
assert complete_config_1 != partial_config_2
assert partial_config_1 != empty_config_1
assert partial_config_2 != empty_config_1
def configure_sensor_params(hostname: str) -> None:
"""Configure sensor params given hostname
Args:
hostname: hostname of the sensor
"""
# create empty config
config = client.SensorConfig()
# set the values that you need: see sensor documentation for param meanings
config.operating_mode = client.OperatingMode.OPERATING_NORMAL
config.lidar_mode = client.LidarMode.MODE_1024x10
config.udp_port_lidar = 7502
config.udp_port_imu = 7503
# set the config on sensor, using appropriate flags
client.set_config(hostname, config, persist=True, udp_dest_auto=True)
# if you like, you can view the entire set of parameters
config = client.get_config(hostname)
print(f"sensor config of {hostname}:\n{config}")
def deprecated_params_config() -> client.SensorConfig:
deprecated_params = """ { "udp_ip": "169.254.148.183", "auto_start_flag": 1 }"""
return client.SensorConfig(deprecated_params)