QUYVN/DriverLIdar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update brand ESPE

Browse Source
This commit is contained in:
QUYVN
2026-07-07 10:38:42 +07:00
parent 1c347a4918
commit 917b4fe4c5
15 changed files with 741 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
include/lidarlib/diagnostics.hpp
View File

@@ -67,11 +67,17 @@ struct Diagnostics {
bool contamination_error() const { return nano_general_state && (*nano_general_state & kNanoStateContaminationError); }
bool manipulation() const { return nano_general_state && (*nano_general_state & kNanoStateManipulation); }
// ESPE LGA60 — raw fault word from area frames (bit meanings unverified);
// only present when the host polls area data.
std::optional<uint16_t> espe_error_status;
bool espe_fault() const { return espe_error_status && *espe_error_status != 0; }
// Fault = device says something is wrong now; warning = degraded but
// still measuring (dirty optics) — schedule cleaning/service.
bool has_fault() const {
return error_status != 0 || sick_error() || pollution_error()
|| contamination_error() || manipulation();
|| contamination_error() || manipulation() || espe_fault();
}
bool has_warning() const { return pollution_warning() || contamination_warning(); }
bool healthy() const { return valid && !has_fault(); }
@@ -97,6 +103,11 @@ inline std::string to_string(const Diagnostics& d) {
if (d.pollution_error()) s += " pollution";
if (d.contamination_error()) s += " contamination";
if (d.manipulation()) s += " manipulation";
if (d.espe_fault()) {
char buf[24];
std::snprintf(buf, sizeof(buf), " espe(0x%04X)", *d.espe_error_status);
s += buf;
}
if (uint8_t rest = d.error_status & ~(kFaultMonitor | kFaultVoltage | kFaultTemperature)) {
char buf[24];
std::snprintf(buf, sizeof(buf), " reserved(0x%02X)", rest);