Fix Family B angle decode + add LR-1FMI model
parse_family_b() dùng sai hệ số góc 0.25°/LSB; theo spec Olei chính hãng (Olei.LidarSensor/LidarDataBlock.GetAngleDegrees) AngleRaw là 0.01°/LSB. Sai 25× khiến điểm bị gán nhầm góc → một phòng bị bôi thành vòng tròn trên RViz. Đã verify với thiết bị thật OLELR-1FMI: sau khi sửa ra 2400 điểm/vòng, 0–359.9°, đúng hình học môi trường. - Đổi hệ số góc 0.25° → 0.01° trong parse_family_b(). - Bỏ qua block invalid (AngleRaw >= 0xFF00) theo spec. - Dò ranh giới vòng quay PER-POINT thay vì per-packet (một gói có thể chứa >1 vòng), tránh gộp nhiều vòng vào một scan. - Thêm model LR-1FMI (360°, 0.01°/LSB, ~2400 pts/rev) vào bảng model + kModelTable, đặt "1FMI" trước "1F" để khớp đúng chuỗi tên. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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include/lidarlib/lidar.hpp
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230
include/lidarlib/lidar.hpp
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#pragma once
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#include <cstdint>
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#include <vector>
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#include <string>
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#include <functional>
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#include <optional>
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namespace lidarlib {
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// ─── Default output: ROS sensor_msgs/LaserScan-shaped ──────────────────────
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// Same field names/semantics as ROS's LaserScan message (radians, meters,
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// seconds) so this can be bridged into a ROS node with a near-1:1 field copy.
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// ranges[i]/intensities[i] correspond to angle = angle_min + i*angle_increment;
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// the array spans exactly one revolution (or the model's FOV window) in the
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// order the device actually swept it — angle_min/angle_max are NOT clamped to
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// [-pi,pi], they just describe whatever contiguous window this revolution
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// covered (matches how continuously-rotating lidars without a phase reset
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// behave: the starting angle drifts slightly scan to scan).
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struct LaserScan {
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uint32_t timestamp_ms = 0; // device clock (ms since power-on); 0 if the
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// family doesn't expose one (see ExtraInfo)
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float angle_min = 0.f; // rad
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float angle_max = 0.f; // rad
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float angle_increment = 0.f; // rad
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float time_increment = 0.f; // sec — device doesn't expose per-point timing, always 0
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float scan_time = 0.f; // sec — device doesn't expose per-scan timing, always 0
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float range_min = 0.f; // m — from ModelConfig, NOT measured per-scan
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float range_max = 0.f; // m — from ModelConfig, NOT measured per-scan
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std::vector<float> ranges; // m
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std::vector<float> intensities; // 0-255 read back as float, like ROS does
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};
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// ─── Extra info: whatever diagnostic/header fields THIS family/model exposes ─
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// Fields the protocol family doesn't carry stay unset (std::nullopt). Several
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// of these are raw, undecoded passthroughs of header bytes whose exact
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// meaning hasn't been verified against real hardware/datasheet — see comments
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// in olei_lidar.cpp next to where each is read.
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struct ExtraInfo {
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std::string detected_model = "AUTO"; // real model name read from the packet, or "AUTO"
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uint8_t error_status = 0; // Family A only; BIT0=Monitor, BIT1=Voltage, BIT2=Temp
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uint8_t distance_scale_mm = 0; // mm/count used to decode ranges this scan (0 = not reported)
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// Family A (0xFAF0) only — raw 16-bit "rotation info" header field,
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// meaning not decoded/verified.
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std::optional<uint16_t> rotation_raw;
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// Family C / protocol V3 (0xFEAC, GS1-5) only — ported from the C# driver
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// header layout, NOT cross-checked against real GS1-5 hardware.
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std::optional<uint8_t> distance_ratio_raw;
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std::optional<uint16_t> scan_frequency_raw;
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std::optional<uint16_t> input_status;
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std::optional<uint16_t> output_status;
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std::optional<uint32_t> field_status;
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std::optional<uint32_t> status_flags;
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};
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// One complete revolution, in both forms at once.
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struct ScanResult {
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LaserScan scan;
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ExtraInfo info;
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};
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// ─── Per-model configuration ───────────────────────────────────────────────
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// scan_angle_* use the SIGNED system [-180,180]: 0 = straight ahead, + = left, - = right.
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// 360° lidars keep the full circle [-180,180]; narrow-FOV lidars (VB 270°) shrink it.
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// range_min_m/range_max_m are sensor-spec placeholders (NOT read from any
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// packet) used to fill LaserScan::range_min/range_max — adjust to the real
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// datasheet values for each model if precision matters to your consumer.
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struct ModelConfig {
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const char* name;
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float scan_angle_min; // deg — VB/LR-16F: -135, 360° models: -180
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float scan_angle_max; // deg — VB/LR-16F: 135, 360° models: 180
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float range_min_m = 0.05f;
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float range_max_m = 30.f;
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};
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// Table of known models — the driver auto-detects the packet family (A=0xFAF0 /
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// B=0xFEF0 / C=0xFEAC) per packet, so this config mainly decides the angular
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// window (FOV) that gets kept.
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inline constexpr ModelConfig MODEL_VB { "VB", -135.f, 135.f, 0.05f, 30.f }; // 2D 270°
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inline constexpr ModelConfig MODEL_VF { "VF", -180.f, 180.f, 0.05f, 30.f }; // 2D 360°
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inline constexpr ModelConfig MODEL_LR1F { "LR-1F", -180.f, 180.f, 0.05f, 50.f }; // 2D 360° 50m
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inline constexpr ModelConfig MODEL_LR1FMI { "LR-1FMI", -180.f, 180.f, 0.05f, 30.f }; // 2D 360°, 0.01°/LSB ~2400 pts/rev (Family B)
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inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f }; // 2D 360° (Family B)
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inline constexpr ModelConfig MODEL_LR16F { "LR-16F", -135.f, 135.f, 0.05f, 30.f }; // 3D 16 line
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inline constexpr ModelConfig MODEL_GS15 { "GS1-5", -180.f, 180.f, 0.05f, 30.f }; // 2D 360°
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// Sentinel: model unknown ahead of time. Family B (0xFEF0) carries an ASCII
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// model name string in its header (e.g. "OLELR-1BS5", verified via live UDP
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// sniff) → the driver auto-detects it and narrows the FOV per the table
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// above. Family C (0xFEAC, GS1-5) is identified by magic alone. Family A has
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// no such string, so on a Family-A device MODEL_AUTO keeps the wide default
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// FOV (-180..180, no points dropped) until the user specifies a concrete model.
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inline constexpr ModelConfig MODEL_AUTO { "AUTO", -180.f, 180.f, 0.05f, 30.f };
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// callback invoked whenever a complete scan is ready — shared by every driver
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// (lidarlib::Driver, lidarlib::SickDriver) and the unified Lidar interface below.
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using ScanCallback = std::function<void(const ScanResult&)>;
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// ─── Unified driver interface ───────────────────────────────────────────────
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// Common handle returned by lidarlib::make_lidar() (the single config function in
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// config.hpp). Both the OLEI Driver (UDP) and the SICK SickDriver (TCP) derive
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// from this, so a GUI/app can drive any supported lidar through one type and
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// never branch on brand. Every call yields the same ScanResult { LaserScan
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// scan; ExtraInfo info; } — output #1 (ROS-shaped LaserScan, identical across
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// all models) and output #2 (ExtraInfo, model-specific extra fields).
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class Lidar {
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public:
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virtual ~Lidar() = default;
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// Open the transport (UDP socket / TCP connection) and start receiving.
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virtual bool open() = 0;
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// Close the transport.
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virtual void close() = 0;
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// Block until one full scan is received; false on error/timeout.
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// timeout_ms = 0 → block indefinitely. (No default here on purpose: the
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// concrete drivers differ — OLEI 1000 ms, SICK 2000 ms — so callers using
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// the interface must state the timeout they want.)
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virtual bool recv_scan(ScanResult& out, int timeout_ms) = 0;
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// Or set a callback and drive it from your own loop via spin_once().
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virtual void set_scan_callback(ScanCallback cb) = 0;
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// Receive + dispatch the callback once (non-owning loop step).
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virtual bool spin_once() = 0;
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// Real model name read from the packet, or the configured name if the
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// family carries none. See Driver::detected_model() for OLEI specifics.
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virtual const char* detected_model() const = 0;
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};
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// ─── Driver ─────────────────────────────────────────────────────────────────
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class Driver : public Lidar {
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public:
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// callback invoked whenever a complete scan is ready
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using ScanCallback = lidarlib::ScanCallback;
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// ip : receiving host's bind address, usually "0.0.0.0"
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// port : UDP port the lidar sends to (default 2368)
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// cfg : model config
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// inverted : set true if this physical unit is mounted upside-down
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// (flipped 180° about its forward-facing axis). Mirrors every
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// point's angle (angle = -angle) so output stays in the
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// vehicle's frame regardless of mounting orientation — useful
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// when e.g. front is mounted normally but rear is flipped.
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explicit Driver(const ModelConfig& cfg,
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const std::string& ip = "0.0.0.0",
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uint16_t port = 2368,
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bool inverted = false);
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~Driver();
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// Non-copyable
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Driver(const Driver&) = delete;
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Driver& operator=(const Driver&) = delete;
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// Open the socket and start receiving
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bool open() override;
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// Close the socket
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void close() override;
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// Blocks until a full revolution has been received; returns false on error/timeout
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// timeout_ms = 0 → block indefinitely
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bool recv_scan(ScanResult& out, int timeout_ms = 1000) override;
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// Or use the callback (drive it from your own non-blocking loop)
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void set_scan_callback(ScanCallback cb) override { cb_ = std::move(cb); }
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// Receive + dispatch callback (call from your own loop)
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bool spin_once() override;
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// The REAL model name read from the Family B/C header (only meaningful
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// when the Driver was constructed with MODEL_AUTO). Always the actual
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// string found in the packet (e.g. "OLELR-1BS2"), even when that model
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// has no specific FOV entry in the table (FOV then stays at the 360°
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// default). Returns "AUTO" if no Family B/C packet has been seen yet.
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// Mirrored per-scan in ScanResult::info::detected_model.
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const char* detected_model() const override { return detected_model_name_.c_str(); }
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private:
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// ── parse Family A packet (ID=0xFAF0): 20B header, 3B block ──
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bool parse_family_a(const uint8_t* buf, int len);
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// ── parse Family B packet (ID=0xFEF0): 40B header, 8B block ──
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bool parse_family_b(const uint8_t* buf, int len);
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// ── parse Family C / protocol V3 packet (Magic=0xFEAC, GS1-5): 48B header ──
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bool parse_family_c(const uint8_t* buf, int len);
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// Appends one point's angle (already signed+inverted+FOV-filtered by the
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// caller), unwrapping it against the previous point in this revolution so
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// the accumulated sequence stays continuous across the ±180° seam instead
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// of jumping — required for LaserScan::angle_min/angle_max/ranges to stay
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// monotonic for 360° devices.
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void push_point(float signed_angle_deg, float dist_m, uint8_t intensity);
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// Once a full revolution is ready → flush into ready_result_ and fire the callback
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void flush_scan();
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ModelConfig cfg_;
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std::string ip_;
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uint16_t port_;
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bool inverted_ = false;
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int sock_fd_ = -1;
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ScanCallback cb_;
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// Per-revolution accumulation buffers (parallel arrays, index-aligned)
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std::vector<float> pending_angle_deg_; // unwrapped, continuous
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std::vector<float> pending_dist_m_;
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std::vector<uint8_t> pending_intensity_;
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uint32_t pending_ts_ = 0;
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uint8_t pending_err_ = 0;
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float last_angle_ = -1.f; // wrap-around (revolution-boundary) detection, device space [0,360)
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// Per-revolution ExtraInfo accumulation — overwritten as packets for the
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// in-progress revolution are parsed, then copied into ready_result_ on flush.
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ExtraInfo pending_info_;
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// recv_scan()'s output, gated by a simple ready flag
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ScanResult ready_result_;
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bool scan_ready_ = false;
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// Per-instance receive buffer — NOT static, so that 2 lidars running on 2
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// threads don't overwrite each other's data (data race).
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uint8_t recv_buf_[4096];
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// Model auto-detection from the Family B/C header (see MODEL_AUTO)
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bool auto_detect_ = false;
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bool model_locked_ = false;
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std::string detected_model_name_ = "AUTO";
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};
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} // namespace lidarlib
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