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>

plugins/driver_sick_code/sick_code_driver.hpp

@@ -0,0 +1,67 @@
+// SICK TiM 5xx/7xx over SOPAS/CoLa-A (TCP) — plugin-private header.
+#pragma once
+#include "lidar_interface.hpp"
+
+#include <cstdint>
+#include <string>
+
+namespace xlidar {
+
+// SICK TiM presets. FOV/range from datasheets; scan_angle_* are informational
+// only and do NOT filter points. angle_offset_deg = -90 because the TiM wire
+// frame puts 90° at the device front.
+inline constexpr ModelConfig MODEL_SICK_TIM5XX { "SICK-TIM5xx", -135.f, 135.f, 0.05f, 10.f, -90.f }; // TiM551/561, 270°, 10m
+inline constexpr ModelConfig MODEL_SICK_TIM571 { "SICK-TIM571", -135.f, 135.f, 0.05f, 25.f, -90.f }; // TiM571,      270°, 25m
+inline constexpr ModelConfig MODEL_SICK_TIM7XX { "SICK-TIM7xx", -135.f, 135.f, 0.05f, 25.f, -90.f }; // TiM781,      270°, 25m
+
+// SICK TiM5xx/7xx over SOPAS/CoLa-A (TCP, default port 2111).
+// Verified against a real TiM781S (FW V5.11). NOT verified: NumEncoders > 0,
+// the 8-bit channel branch, and the TIM5xx/TIM571 FOV/range numbers.
+class SickCodeDriver : public LidarDriverInterface {
+public:
+    // inverted: unit mounted upside-down → mirror the scan.
+    explicit SickCodeDriver(const ModelConfig& cfg,
+                            const std::string& ip,
+                            uint16_t            port     = 2111,
+                            bool                inverted = false);
+    ~SickCodeDriver();
+
+    SickCodeDriver(const SickCodeDriver&)            = delete;
+    SickCodeDriver& operator=(const SickCodeDriver&) = delete;
+
+    DriverInfo get_driver_info() const override;
+
+    // Connect + send "sEN LMDscandata 1" to start continuous scan output.
+    ErrorCode open() override;
+    void close() override;
+    bool recv_scan(ScanResult& out, int timeout_ms = 2000) override;
+    void set_scan_callback(ScanCallback cb) override { cb_ = std::move(cb); }
+    bool spin_once() override;
+    bool is_open() const override { return sock_fd_ >= 0; }
+
+    // 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);
+    bool parse_lmdscandata(const std::string& telegram, ScanResult& out);
+
+    ModelConfig  cfg_;
+    std::string  detected_model_name_;  // owned copy of cfg_.name (stable lifetime)
+    std::string  ip_;
+    uint16_t     port_;
+    bool         inverted_ = false;
+    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_;
+};
+
+} // namespace xlidar