update Diagnostics

include/lidarlib/lidar.hpp

@@ -1,4 +1,5 @@
 #pragma once
+#include "lidarlib/diagnostics.hpp"
 #include "lidarlib/error.hpp"
 #include <cstdint>
 #include <vector>
@@ -39,6 +40,13 @@ struct ExtraInfo {
     std::optional<uint16_t> output_status;
     std::optional<uint32_t> field_status;
     std::optional<uint32_t> status_flags;
+
+    // SICK TiM only — LMDscandata status pair (word0<<8)|word1:
+    // 0 ok, 1 error, 2 pollution warning, 4 pollution error.
+    std::optional<uint16_t> sick_device_status;
+
+    // SICK nanoScan3 only — General System State byte 0 (see kNanoState* bits).
+    std::optional<uint8_t> nano_general_state;
 };
 
 struct ScanResult {
@@ -101,6 +109,12 @@ public:
     // Status of the most recent open()/recv_scan()/spin_once() call.
     ErrorCode last_error() const { return last_error_; }
 
+    // Device self-diagnostics from the newest fully decoded scan. valid stays
+    // false until one scan has been seen — and permanently on drivers whose
+    // wire format carries no diagnostic fields (SICK, for now). Updated by
+    // recv_scan()/spin_once(); call from the same thread that pumps them.
+    virtual Diagnostics get_diagnostics() const { return {}; }
+
 protected:
     ErrorCode set_error(ErrorCode e) { last_error_ = e; return e; }
 
@@ -134,6 +148,8 @@ public:
     // Model name read from the Family B/C header; "AUTO" until one is seen.
     const char* detected_model() const override { return detected_model_name_.c_str(); }
 
+    Diagnostics get_diagnostics() const override { return latest_diag_; }
+
 private:
     bool parse_family_a(const uint8_t* buf, int len);  // ID=0xFAF0
     bool parse_family_b(const uint8_t* buf, int len);  // ID=0xFEF0
@@ -159,6 +175,9 @@ private:
 
     ExtraInfo pending_info_;
 
+    // Snapshot for get_diagnostics(); refreshed by flush_scan().
+    Diagnostics latest_diag_;
+
     ScanResult ready_result_;
     bool       scan_ready_ = false;