update brand ESPE

include/lidarlib/config.hpp

@@ -12,8 +12,9 @@ struct LidarConfig {
     std::string ip        = "0.0.0.0";
     uint16_t    port      = 2368;
     std::string model     = "AUTO";
-    bool        inverted  = false;    // OLEI only
-    std::string brand     = "OLEI";   // "OLEI" or "SICK"
+    bool        inverted  = false;    // unit mounted upside-down → mirror the scan
+    std::string brand     = "OLEI";   // "OLEI", "SICK" or "ESPE"
+    bool        use_udp   = false;    // ESPE only: UDP instead of TCP transport
 
     // Output angle window (deg): scan angles are remapped onto
     // [angle_min_deg, angle_max_deg] without dropping points.
@@ -24,6 +25,7 @@ struct LidarConfig {
     friend bool operator==(const LidarConfig& a, const LidarConfig& b) {
         return a.name == b.name && a.ip == b.ip && a.port == b.port &&
                a.model == b.model && a.inverted == b.inverted && a.brand == b.brand &&
+               a.use_udp == b.use_udp &&
                a.angle_min_deg == b.angle_min_deg && a.angle_max_deg == b.angle_max_deg;
     }
     friend bool operator!=(const LidarConfig& a, const LidarConfig& b) { return !(a == b); }
@@ -53,7 +55,8 @@ void save_config(const std::string& path, const Config& cfg);
 
 // Build a ready-to-open lidar from one LidarConfig — the only entry point an
 // app needs. brand "SICK" → SICK driver (model "SICK-nanoScan3" → UDP
-// NanoScanDriver, others → TCP SickDriver); anything else → OLEI UDP.
+// NanoScanDriver, others → TCP SickDriver); brand "ESPE" → TCP EspeDriver;
+// anything else → OLEI UDP.
 // Unknown/cross-brand model falls back to the brand default. Never nullptr.
 std::unique_ptr<Lidar> make_lidar(const LidarConfig& cfg);