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>

examples/example.cpp

@@ -1,57 +1,71 @@
-// OLEI driver example.
-#include "lidarlib/lidar.hpp"
+// Open one lidar through the manager and read 10 scans.
+//   ./example <driver_id> [plugins_dir]
+//   ./example olei_lidar_driver
+//   ./example rplidar_c1_driver
+#include "lidar_manager.hpp"
 #include <cstdio>
 
-int main() {
-    lidarlib::Driver drv(lidarlib::MODEL_VB);
+int main(int argc, char** argv) {
+    if (argc < 2) {
+        fprintf(stderr, "usage: %s <driver_id> [plugins_dir]\n", argv[0]);
+        return 1;
+    }
+    const std::string plugins_dir = (argc > 2) ? argv[2] : "plugins";
 
-    lidarlib::ErrorCode err = drv.open();
-    if (err != lidarlib::ErrorCode::Ok) {
-        fprintf(stderr, "Không mở được socket: %s\n", lidarlib::to_string(err));
+    xlidar::LidarManager manager(plugins_dir);
+    manager.load_all_plugins();
+
+    xlidar::DeviceConfig cfg;
+    cfg.name      = "demo";
+    cfg.driver_id = argv[1];
+    // Network drivers use cfg.ip / cfg.port (0 = driver default port);
+    // the rplidar driver uses cfg.serial_port / cfg.baudrate instead.
+
+    auto lidar = manager.create_lidar_device(cfg);
+    if (!lidar) return 1;
+
+    xlidar::DriverInfo info = lidar->get_driver_info();
+    printf("driver: %s (%s %s)\n", info.driver_id.c_str(), info.vendor.c_str(),
+           info.model.c_str());
+
+    xlidar::ErrorCode err = lidar->open();
+    if (err != xlidar::ErrorCode::Ok) {
+        fprintf(stderr, "open failed: %s\n", xlidar::to_string(err));
         return 1;
     }
 
-    // Chờ cảm biến sẵn sàng: đã nhận được ít nhất một scan hoàn chỉnh
-    // và thiết bị không báo lỗi (motor/điện áp/nhiệt độ...)
-    if (!drv.wait_ready(5000)) {
-        fprintf(stderr, "Cảm biến chưa sẵn sàng: %s (diag: %s)\n",
-                lidarlib::to_string(drv.last_error()),
-                lidarlib::to_string(drv.get_diagnostics()).c_str());
-        drv.close();
+    // Wait until the sensor is usable: at least one complete scan decoded
+    // and the device reports no fault (motor/voltage/pollution/...).
+    if (!lidar->wait_ready(5000)) {
+        fprintf(stderr, "sensor not ready: %s (diag: %s)\n",
+                xlidar::to_string(lidar->last_error()),
+                xlidar::to_string(lidar->get_diagnostics()).c_str());
+        lidar->close();
         return 1;
     }
 
     for (int i = 0; i < 10; ++i) {
-        lidarlib::ScanResult result;
-        if (!drv.recv_scan(result, 2000)) {
-            fprintf(stderr, "Timeout hoặc lỗi nhận packet\n");
+        xlidar::ScanResult result;
+        if (!lidar->recv_scan(result, 2000)) {
+            fprintf(stderr, "recv_scan failed: %s\n", xlidar::to_string(lidar->last_error()));
             break;
         }
-        const lidarlib::LaserScan& scan = result.scan;
-        const lidarlib::ExtraInfo& info = result.info;
-        printf("Scan #%d: %zu điểm, ts=%u ms, err=0x%02X, model=%s\n",
-               i, scan.ranges.size(), scan.timestamp_ms, info.error_status,
-               info.detected_model.c_str());
+        const xlidar::LaserScan& scan = result.scan;
+        printf("scan #%d: %zu points, ts=%u ms, model=%s\n",
+               i, scan.ranges.size(), scan.timestamp_ms,
+               result.info.detected_model.c_str());
 
-        // Chẩn đoán thiết bị từ scan mới nhất
-        lidarlib::Diagnostics diag = drv.get_diagnostics();
-        printf("  diag: %s\n", lidarlib::to_string(diag).c_str());
-        if (diag.has_fault()) {
-            if (diag.monitor_fault())     printf("    !! lỗi monitor/motor\n");
-            if (diag.voltage_fault())     printf("    !! điện áp bất thường\n");
-            if (diag.temperature_fault()) printf("    !! nhiệt độ bất thường\n");
-        }
+        // Device self-diagnostics from the newest scan.
+        xlidar::Diagnostics diag = lidar->get_diagnostics();
+        printf("  diag: %s\n", xlidar::to_string(diag).c_str());
 
-        for (size_t j = 0; j < 20 && j < scan.ranges.size(); ++j) {
+        for (size_t j = 0; j < 5 && 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();
+    lidar->close();
     return 0;
 }
-
-// Build:
-//   g++ -std=c++17 -O2 -Iinclude -o example examples/example.cpp src/olei_lidar.cpp