refactor: restructure lidarlib into xlidar-driver plugin SDK

- LidarManager facade (liblidar_manager.so): dlopen plugin discovery,
  available_drivers map<driver_id, PluginRegistry>, create_lidar_device,
  config.json load/save with legacy lidarlib migration
- Common LidarDriverInterface + DriverInfo/DeviceConfig plugin ABI
  (extern C get_driver_info / create_driver_instance)
- Plugins: driver_rplidar (ported from xlocd, Slamtec SDK), driver_olei,
  driver_sick_code (TiM CoLa-A), driver_sick_safety (nanoScan3), driver_espe
- Diagnostics extended with rplidar health + firmware; FOV filter window,
  range override and legacy remap window unified in DeviceConfig
- Rewritten README, diagnostics doc and examples (list_drivers, example,
  lidar_app)

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

CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.10)
-project(lidarlib VERSION 1.0.0 LANGUAGES CXX)
+cmake_minimum_required(VERSION 3.16)
+project(xlidar_driver VERSION 2.0.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -9,77 +9,48 @@ endif()
 
 find_package(Threads REQUIRED)
 
-option(BUILD_SHARED_LIBS "Build shared (.so) libraries instead of static" ON)
+option(XLIDAR_BUILD_EXAMPLES "Build example/demo binaries" ON)
 
-set(LIDARLIB_SOURCES
-    src/olei_lidar.cpp
-    src/sick_lidar.cpp
-    src/espe_lidar.cpp
-    src/lidar_config.cpp
-)
+# Where the rplidar plugin finds the Slamtec SDK sources (include/ + src/).
+# Empty + not auto-detected -> the rplidar plugin is skipped with a warning.
+set(XLIDAR_RPLIDAR_SDK_DIR "" CACHE PATH "Path to the Slamtec RPLIDAR SDK (dir containing include/ and src/)")
 
-add_library(lidarlib ${LIDARLIB_SOURCES})
-set_target_properties(lidarlib PROPERTIES
-    VERSION ${PROJECT_VERSION}
-    SOVERSION ${PROJECT_VERSION_MAJOR}
-    POSITION_INDEPENDENT_CODE ON
-)
-target_include_directories(lidarlib PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-target_link_libraries(lidarlib PUBLIC Threads::Threads)
+add_subdirectory(src)
+add_subdirectory(plugins)
 
-option(LIDARLIB_BUILD_EXAMPLES "Build example/demo binaries" ON)
-if(LIDARLIB_BUILD_EXAMPLES)
-  add_executable(example examples/example.cpp)
-  target_link_libraries(example PRIVATE lidarlib)
-
-  add_executable(test_dual examples/test_dual.cpp)
-  target_link_libraries(test_dual PRIVATE lidarlib)
-
-  add_executable(sick_example examples/sick_example.cpp)
-  target_link_libraries(sick_example PRIVATE lidarlib)
-
-  add_executable(nanoscan_example examples/nanoscan_example.cpp)
-  target_link_libraries(nanoscan_example PRIVATE lidarlib)
-
-  add_executable(espe_example examples/espe_example.cpp)
-  target_link_libraries(espe_example PRIVATE lidarlib)
-
-  add_executable(lidar_app examples/lidar_app.cpp)
-  target_link_libraries(lidar_app PRIVATE lidarlib)
+if(XLIDAR_BUILD_EXAMPLES)
+  add_subdirectory(examples)
 endif()
 
-# install + find_package() support
+# ── install + find_package() support ─────────────────────────────────────────
 include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 
-install(TARGETS lidarlib
-    EXPORT lidarlibTargets
+install(TARGETS lidar_manager
+    EXPORT xlidar_driverTargets
     ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
-install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/xlidar)
 
-install(EXPORT lidarlibTargets
-    FILE lidarlibTargets.cmake
-    NAMESPACE lidarlib::
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/lidarlib
+install(EXPORT xlidar_driverTargets
+    FILE xlidar_driverTargets.cmake
+    NAMESPACE xlidar::
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
 )
 
 configure_package_config_file(
-    cmake/lidarlibConfig.cmake.in
-    ${CMAKE_CURRENT_BINARY_DIR}/lidarlibConfig.cmake
-    INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/lidarlib
+    cmake/xlidar_driverConfig.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfig.cmake
+    INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
 )
 write_basic_package_version_file(
-    ${CMAKE_CURRENT_BINARY_DIR}/lidarlibConfigVersion.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfigVersion.cmake
     VERSION ${PROJECT_VERSION}
     COMPATIBILITY SameMajorVersion
 )
 install(FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/lidarlibConfig.cmake
-    ${CMAKE_CURRENT_BINARY_DIR}/lidarlibConfigVersion.cmake
-    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/lidarlib
+    ${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfig.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/xlidar_driverConfigVersion.cmake
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/xlidar_driver
 )