add azimuth window config support

ouster_client/include/ouster/client.h

@@ -44,6 +44,7 @@ std::shared_ptr<client> init_client(const std::string& hostname = "",
  * @param hostname hostname or ip of the sensor
  * @param udp_dest_host hostname or ip where the sensor should send data
  * or "" for automatic detection of destination
+ * @param azimuth_window azimuth window the sensor will send back the data
  * @param lidar_port port on which the sensor will send lidar data
  * @param imu_port port on which the sensor will send imu data
  * @param timeout_sec how long to wait for the sensor to initialize
@@ -54,7 +55,8 @@ std::shared_ptr<client> init_client(const std::string& hostname,
                                     lidar_mode mode = MODE_UNSPEC,
                                     timestamp_mode ts_mode = TIME_FROM_UNSPEC,
                                     int lidar_port = 0, int imu_port = 0,
-                                    int timeout_sec = 60);
+                                    int timeout_sec = 60, 
+                                    AzimuthWindow azimuth_window = {0, 360000});
 
 /**
  * Block for up to timeout_sec until either data is ready or an error occurs.

ouster_client/include/ouster/types.h

@@ -282,6 +282,14 @@ std::string to_string(NMEABaudRate rate);
  */
 optional<NMEABaudRate> nmea_baud_rate_of_string(const std::string& s);
 
+/**
+ * Get azimuth window from string.
+ *
+ * @param string
+ * @return azimuth window corresponding to the string, or 0 on error
+ */
+optional<AzimuthWindow> azimuth_window_of_string(const std::string& s);
+
 /**
  * Get string representation of an Azimuth Window
  *

ouster_client/src/client.cpp

@@ -460,7 +460,8 @@ std::shared_ptr<client> init_client(const std::string& hostname,
                                     const std::string& udp_dest_host,
                                     lidar_mode mode, timestamp_mode ts_mode,
                                     int lidar_port, int imu_port,
-                                    int timeout_sec) {
+                                    int timeout_sec,
+                                    AzimuthWindow azimuth_window) {
     auto cli = init_client(hostname, lidar_port, imu_port);
     if (!cli) return std::shared_ptr<client>();
 
@@ -518,6 +519,13 @@ std::shared_ptr<client> init_client(const std::string& hostname,
         success &= res == "set_config_param";
     }
 
+    // Setup Azimuth Window
+    success &= do_tcp_cmd(
+        sock_fd,
+        {"set_config_param", "azimuth_window", to_string(azimuth_window)},
+        res);
+    success &= res == "set_config_param";
+
     // wake up from STANDBY, if necessary
     success &=
         do_tcp_cmd(sock_fd, {"set_config_param", "auto_start_flag", "1"}, res);

ouster_client/src/types.cpp

@@ -364,6 +364,13 @@ optional<NMEABaudRate> nmea_baud_rate_of_string(const std::string& s) {
     return rlookup(impl::nmea_baud_rate_strings, s.c_str());
 }
 
+optional<AzimuthWindow> azimuth_window_of_string(const std::string& s) 
+{
+  AzimuthWindow p;
+  int res = sscanf(s.c_str(),"[%i,%i]",&p.first,&p.second);
+  return res == 2 ? make_optional<AzimuthWindow>(p) : nullopt;
+}
+
 std::string to_string(AzimuthWindow azimuth_window) {
     std::stringstream ss;
     ss << "[" << azimuth_window.first << ", " << azimuth_window.second << "]";