From 84951905e3daf4456777ccee6c6d02688f439988 Mon Sep 17 00:00:00 2001
From: BlaiseLebreton <59114761+BlaiseLebreton@users.noreply.github.com>
Date: Wed, 18 Dec 2024 23:08:27 +0100
Subject: [PATCH] Add operating_mode parameter to init_client(#629)

---
 ouster_client/include/ouster/client.h | 5 ++++-
 ouster_client/include/ouster/types.h  | 3 ++-
 ouster_client/src/client.cpp          | 5 +++--
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/ouster_client/include/ouster/client.h b/ouster_client/include/ouster/client.h
index 9c003418..63c4552b 100644
--- a/ouster_client/include/ouster/client.h
+++ b/ouster_client/include/ouster/client.h
@@ -91,6 +91,8 @@ std::shared_ptr<client> init_client(const std::string& hostname, int lidar_port,
  * using zero the method will automatically acquire and assign any free port.
  * @param[in] timeout_sec how long to wait for the sensor to initialize.
  * @param[in] persist_config if true, persists sensor settings between restarts
+ * @param[in] operating_mode The lidar operating mode. When using zero the
+ * method will leave the sensor in its current operating mode.
  *
  * @return pointer owning the resources associated with the connection.
  */
@@ -99,7 +101,8 @@ std::shared_ptr<client> init_client(
     lidar_mode ld_mode = MODE_UNSPEC, timestamp_mode ts_mode = TIME_FROM_UNSPEC,
     int lidar_port = 0, int imu_port = 0,
     int timeout_sec = LONG_HTTP_REQUEST_TIMEOUT_SECONDS,
-    bool persist_config = false);
+    bool persist_config = false,
+    OperatingMode operating_mode = OPERATING_NORMAL);
 
 /**
  * [BETA] Connect to and configure the sensor and start listening for data via
diff --git a/ouster_client/include/ouster/types.h b/ouster_client/include/ouster/types.h
index d112cfb4..c97c10a1 100644
--- a/ouster_client/include/ouster/types.h
+++ b/ouster_client/include/ouster/types.h
@@ -100,7 +100,8 @@ enum timestamp_mode {
  * meaning of each option.
  */
 enum OperatingMode {
-    OPERATING_NORMAL = 1,  ///< Normal sensor operation
+    OPERATING_UNSPEC = 0,  ///< Unspecified sensor operation
+    OPERATING_NORMAL,      ///< Normal sensor operation
     OPERATING_STANDBY      ///< Standby
 };
 
diff --git a/ouster_client/src/client.cpp b/ouster_client/src/client.cpp
index f21167ad..76299472 100644
--- a/ouster_client/src/client.cpp
+++ b/ouster_client/src/client.cpp
@@ -382,7 +382,8 @@ std::shared_ptr<client> init_client(const std::string& hostname,
                                     const std::string& udp_dest_host,
                                     lidar_mode ld_mode, timestamp_mode ts_mode,
                                     int lidar_port, int imu_port,
-                                    int timeout_sec, bool persist_config) {
+                                    int timeout_sec, bool persist_config,
+                                    OperatingMode operating_mode) {
     auto cli = init_client(hostname, lidar_port, imu_port);
     if (!cli) return std::shared_ptr<client>();
     logger().info("(0 means a random port will be chosen)");
@@ -406,7 +407,7 @@ std::shared_ptr<client> init_client(const std::string& hostname,
         if (lidar_port) config.udp_port_lidar = lidar_port;
         if (imu_port) config.udp_port_imu = imu_port;
         if (persist_config) config_flags |= CONFIG_PERSIST;
-        config.operating_mode = OPERATING_NORMAL;
+        if (operating_mode) config.operating_mode = operating_mode;
         set_config(*sensor_http, config, config_flags, timeout_sec);
 
         // will block until no longer INITIALIZING