Initial commit

srcs/RobotNet10/RobotApp/Communication/Olei.LidarSensor/LidarHeader.cs

@@ -0,0 +1,101 @@
+using System.Runtime.InteropServices;
+using System.Text;
+
+namespace Olei.LidarSensor;
+
+/// <summary>
+/// Frame header structure for Olei LiDAR sensor (40 bytes)
+/// All data is in little-endian format
+/// </summary>
+[StructLayout(LayoutKind.Sequential, Pack = 1)]
+public struct LidarHeader
+{
+    /// <summary>
+    /// Frame ID, always 0xFEF0010F
+    /// </summary>
+    public const uint FRAME_ID = 0xFEF0010F;
+
+    /// <summary>
+    /// Protocol version, current is 0x0200
+    /// </summary>
+    public const ushort PROTOCOL_VERSION = 0x0200;
+
+    public uint Id;
+    public ushort ProtocolVersion;
+    public byte DistanceScale;
+
+    // Brand name code (3 bytes)
+    public byte BrandName1;
+    public byte BrandName2;
+    public byte BrandName3;
+
+    // Commercial type code (12 bytes)
+    public ulong CommercialType1;
+    public uint CommercialType2;
+
+    public ushort InternalTypeCode;
+    public ushort HardwareVersion;
+    public ushort SoftwareVersion;
+    public uint TimeStamp;
+    public ushort RotationRateAndDirection;
+    public byte SafeZoneStatus;
+    public byte ErrorStatus;
+    public uint NtpTimestampInteger;
+
+    /// <summary>
+    /// Check if the frame ID is valid
+    /// </summary>
+    public readonly bool IsValidFrame => Id == FRAME_ID;
+
+    /// <summary>
+    /// Get rotation rate (Bit[14:0])
+    /// </summary>
+    public readonly ushort RotationRate => (ushort)(RotationRateAndDirection & 0x7FFF);
+
+    /// <summary>
+    /// Get rotation direction (Bit[15]): false = clockwise, true = counter clockwise
+    /// </summary>
+    public readonly bool IsCounterClockwise => (RotationRateAndDirection & 0x8000) != 0;
+
+    /// <summary>
+    /// Check if motor fault occurred (BIT0 of ErrorStatus)
+    /// </summary>
+    public readonly bool HasMotorFault => (ErrorStatus & 0x01) != 0;
+
+    /// <summary>
+    /// Check if abnormal voltage occurred (BIT1 of ErrorStatus)
+    /// </summary>
+    public readonly bool HasAbnormalVoltage => (ErrorStatus & 0x02) != 0;
+
+    /// <summary>
+    /// Check if temperature fault occurred (BIT2 of ErrorStatus)
+    /// </summary>
+    public readonly bool HasTemperatureFault => (ErrorStatus & 0x04) != 0;
+
+    /// <summary>
+    /// Check if any error occurred
+    /// </summary>
+    public readonly bool HasError => ErrorStatus != 0;
+
+    /// <summary>
+    /// Get brand name as string
+    /// </summary>
+    public readonly string GetBrandName()
+    {
+        Span<byte> bytes = stackalloc byte[3];
+        bytes[0] = BrandName1;
+        bytes[1] = BrandName2;
+        bytes[2] = BrandName3;
+        return Encoding.ASCII.GetString(bytes).TrimEnd('\0');
+    }
+
+    /// <summary>
+    /// Get OUTPUT bits (BIT[3:0] of SafeZoneStatus)
+    /// </summary>
+    public readonly byte GetOutputBits => (byte)(SafeZoneStatus & 0x0F);
+
+    /// <summary>
+    /// Get INPUT bits (BIT[7:4] of SafeZoneStatus)
+    /// </summary>
+    public readonly byte GetInputBits => (byte)((SafeZoneStatus >> 4) & 0x0F);
+}