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update Diagnostics

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This commit is contained in:
QUYVN
2026-07-07 08:59:36 +07:00
parent 397b9ab3c5
commit 1c347a4918
8 changed files with 446 additions and 2 deletions
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10
include/lidarlib/sick_lidar.hpp
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@@ -39,6 +39,8 @@ public:
// No model string on the wire — returns the configured name.
const char* detected_model() const override { return detected_model_name_.c_str(); }
Diagnostics get_diagnostics() const override { return latest_diag_; }
private:
bool send_telegram(const std::string& body);
bool read_telegram(std::string& out, int timeout_ms);
@@ -51,6 +53,9 @@ private:
int sock_fd_ = -1;
ScanCallback cb_;
// Snapshot for get_diagnostics(); refreshed by parse_lmdscandata().
Diagnostics latest_diag_;
// Leftover TCP bytes carried across telegram boundaries; per-instance.
std::string recv_buf_;
};
@@ -84,6 +89,8 @@ public:
// No model string on the wire — returns the configured name.
const char* detected_model() const override { return detected_model_name_.c_str(); }
Diagnostics get_diagnostics() const override { return latest_diag_; }
private:
int recv_datagram(int timeout_ms);
bool parse_packet(const uint8_t* buf, int len, ScanResult& out);
@@ -95,6 +102,9 @@ private:
int sock_fd_ = -1;
ScanCallback cb_;
// Snapshot for get_diagnostics(); refreshed by parse_packet().
Diagnostics latest_diag_;
// Per-instance; sized for a full safety-data packet (max ~2751 beams).
std::vector<uint8_t> recv_buf_;
};