Refactor lidar library: rename olei_config to lidar_config, add nanoscan example and shared byte helpers

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

examples/example.cpp

@@ -1,19 +1,15 @@
-// example.cpp — quick try-out of the OLEI LiDAR driver
+// OLEI driver example.
 #include "lidarlib/lidar.hpp"
 #include <cstdio>
 
 int main() {
-    // ── pick a model ────────────────────────────────────────────────────────
-    // lidarlib::Driver drv(lidarlib::MODEL_VF);        // 2D 360°
-    // lidarlib::Driver drv(lidarlib::MODEL_LR1F);      // 2D 360°, 50m
-    lidarlib::Driver drv(lidarlib::MODEL_VB);           // 2D 270°
+    lidarlib::Driver drv(lidarlib::MODEL_VB);
 
     if (!drv.open()) {
         fprintf(stderr, "Không mở được socket\n");
         return 1;
     }
 
-    // ── option 1: blocking recv ─────────────────────────────────────────────
     for (int i = 0; i < 10; ++i) {
         lidarlib::ScanResult result;
         if (!drv.recv_scan(result, 2000)) {
@@ -26,7 +22,6 @@ int main() {
                i, scan.ranges.size(), scan.timestamp_ms, info.error_status,
                info.detected_model.c_str());
 
-        // Print the first few points
         for (size_t j = 0; j < 20 && j < scan.ranges.size(); ++j) {
             float angle_deg = (scan.angle_min + j * scan.angle_increment) * 180.f / 3.14159265f;
             printf("  [%zu] angle=%.2f° dist=%.3fm intensity=%.0f\n",
@@ -34,12 +29,6 @@ int main() {
         }
     }
 
-    // ── option 2: callback (your own loop) ──────────────────────────────────
-    // drv.set_scan_callback([](const lidarlib::ScanResult& result) {
-    //     printf("Got scan: %zu pts\n", result.scan.ranges.size());
-    // });
-    // while (true) drv.spin_once();
-
     drv.close();
     return 0;
 }

examples/lidar_app.cpp

@@ -1,14 +1,4 @@
-// lidar_app.cpp — headless skeleton app and integration template.
-//
-// Loads the lidar list from config.json, opens each one through the SINGLE
-// config function lidarlib::make_lidar() (no per-brand branching), then reads scans
-// on one thread per lidar and prints a one-line summary. There is no web UI:
-// edit config.json directly, or build your own GUI on top of this same API.
-//
-// What a GUI author keeps:  load_config() + make_lidar() + the recv_scan() loop.
-// What a GUI author replaces: the printf() with their own rendering/persistence,
-// and save_config() to write edits back.
-//
+// Headless skeleton app: loads config.json, one reader thread per lidar.
 //   ./lidar_app [config.json]
 #include "lidarlib/lidarlib.hpp"
 #include <atomic>
@@ -23,10 +13,8 @@ namespace {
 std::atomic<bool> g_running{true};
 void on_signal(int) { g_running = false; }
 
-// One reader thread per lidar. Owns the handle for its whole lifetime so the
-// per-instance receive buffers never race another thread.
 void run_lidar(lidarlib::LidarConfig cfg) {
-    std::unique_ptr<lidarlib::Lidar> lidar = lidarlib::make_lidar(cfg);  // the one config call
+    std::unique_ptr<lidarlib::Lidar> lidar = lidarlib::make_lidar(cfg);
     if (!lidar->open()) {
         fprintf(stderr, "[%s] khong mo duoc %s %s:%u\n",
                 cfg.name.c_str(), cfg.brand.c_str(), cfg.ip.c_str(), cfg.port);
@@ -38,11 +26,9 @@ void run_lidar(lidarlib::LidarConfig cfg) {
 
     while (g_running) {
         lidarlib::ScanResult result;
-        if (!lidar->recv_scan(result, 1000)) continue;  // timeout -> retry
+        if (!lidar->recv_scan(result, 1000)) continue;
 
-        // Output #1: ROS-shaped LaserScan (same for every lidar)
         const lidarlib::LaserScan& scan = result.scan;
-        // Output #2: ExtraInfo (fields vary by model/family)
         const lidarlib::ExtraInfo& info = result.info;
 
         printf("[%s] %zu diem | ts=%u ms | model=%s | err=0x%02X\n",
@@ -57,12 +43,12 @@ void run_lidar(lidarlib::LidarConfig cfg) {
 } // namespace
 
 int main(int argc, char** argv) {
-    setvbuf(stdout, nullptr, _IOLBF, 0);  // line-buffer so logs show promptly
+    setvbuf(stdout, nullptr, _IOLBF, 0);
 
     const std::string config_path = (argc > 1) ? argv[1] : "config.json";
 
     lidarlib::Config cfg = lidarlib::load_config(config_path);
-    lidarlib::save_config(config_path, cfg);  // ensure the file exists & is editable
+    lidarlib::save_config(config_path, cfg);  // ensure the file exists
 
     if (cfg.lidars.empty()) {
         fprintf(stderr, "Khong co lidar nao trong %s\n", config_path.c_str());

examples/nanoscan_example.cpp

@@ -0,0 +1,37 @@
+// SICK nanoScan3 example. The sensor's UDP output target must be configured
+// in SICK Safety Designer; this driver only binds a local UDP port.
+#include "lidarlib/sick_lidar.hpp"
+#include <cstdio>
+
+int main() {
+    lidarlib::NanoScanDriver drv(lidarlib::MODEL_SICK_NANOSCAN3, "0.0.0.0", 6060);
+
+    if (!drv.open()) {
+        fprintf(stderr, "Không mở được UDP socket cho nanoScan3\n");
+        return 1;
+    }
+
+    for (int i = 0; i < 10; ++i) {
+        lidarlib::ScanResult result;
+        if (!drv.recv_scan(result, 2000)) {
+            fprintf(stderr, "Timeout hoặc lỗi nhận UDP datagram\n");
+            break;
+        }
+        const lidarlib::LaserScan& scan = result.scan;
+        const lidarlib::ExtraInfo& info = result.info;
+        printf("Scan #%d: %zu điểm, ts=%u, model=%s\n",
+               i, scan.ranges.size(), scan.timestamp_ms, info.detected_model.c_str());
+
+        for (size_t j = 0; j < 20 && j < scan.ranges.size(); ++j) {
+            float angle_deg = (scan.angle_min + j * scan.angle_increment) * 180.f / 3.14159265f;
+            printf("  [%zu] angle=%.2f° dist=%.3fm intensity=%.0f\n",
+                   j, angle_deg, scan.ranges[j], scan.intensities[j]);
+        }
+    }
+
+    drv.close();
+    return 0;
+}
+
+// Build:
+//   g++ -std=c++17 -O2 -Iinclude -o nanoscan_example examples/nanoscan_example.cpp src/sick_lidar.cpp

examples/sick_example.cpp

@@ -1,7 +1,4 @@
-// sick_example.cpp — quick try-out of the SICK TiM driver (SOPAS/CoLa-A, TCP)
-//
-// Verified against a real SICK TiM781S — see the caveat in
-// include/lidarlib/sick_lidar.hpp for exactly what was (and wasn't) confirmed.
+// SICK TiM driver example (SOPAS/CoLa-A, TCP).
 #include "lidarlib/sick_lidar.hpp"
 #include <cstdio>
 

examples/test_dual.cpp

@@ -1,6 +1,4 @@
-// test_dual.cpp — test 2 Olei lidars (front + rear) concurrently, per appsettings.json
-//   Olei-front: scan_1, DeviceIp 192.168.100.11, LocalIp 192.168.100.100, DevicePort 2368
-//   Olei-rear : scan_2, DeviceIp 192.168.100.12, LocalIp 192.168.100.100, DevicePort 2369
+// Test 2 Olei lidars (front + rear) concurrently.
 #include "lidarlib/lidar.hpp"
 #include <cstdio>
 #include <thread>
@@ -36,14 +34,7 @@ static void run_lidar(const char* tag, const lidarlib::ModelConfig& cfg,
 }
 
 int main() {
-    // Both front and rear are Family B in practice — front's real header
-    // string is "OLELR-1BS2", rear's is "OLELR-1BS5" (verified via live UDP
-    // sniff), NOT the VB (Family A) model the config name suggested. With
-    // MODEL_AUTO, the driver reads the real model name from the header and
-    // narrows the FOV when it matches a known entry in kModelTable
-    // (olei_lidar.cpp); "1BS5" matches (→ full 360°), but "1BS2" doesn't, so
-    // front currently stays at the unfiltered 360° default. Call
-    // drv.detected_model() to see which name was actually read.
+    // Real headers (UDP sniff): front = "OLELR-1BS2", rear = "OLELR-1BS5".
     std::thread t_front(run_lidar, "front/scan_1", lidarlib::MODEL_AUTO,
                          "192.168.100.100", 2368, false, 5);
     std::thread t_rear(run_lidar, "rear/scan_2", lidarlib::MODEL_AUTO,