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feat(config,diagnostics): explicit transport in DeviceConfig, vendor-neutral diagnostics

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DeviceConfig now carries an optional transport (serial/udp/tcp) instead of
the ESPE-only use_udp bool. Plugins validate it in create_driver_instance:
a fixed-transport driver configured with the wrong transport fails open()
with InvalidConfig (via InvalidConfigDriver — the plugin ABI forbids
returning nullptr) rather than silently ignoring the setting. Selectable
drivers (ESPE) switch TCP/UDP through the same field. config.json
load/save round-trips "transport" for every transport, including serial,
and migrates legacy use_udp:true entries.

Diagnostics drops the per-vendor accessors (espe_fault, rplidar_fault,
monitor_fault, sick_error, pollution_*, contamination_*, manipulation) for
one common shape: a list of DiagnosticIssue{severity, code, detail} with
cross-vendor codes, plus a raw map of vendor passthrough values and
to_json() for hosts that prefer a string. Vendor bit decoding now lives in
one place (decode_diagnostics); has_fault/has_warning/healthy keep their
meaning, so is_ready()/wait_ready() are unchanged.

Also: README regains the model/protocol and ExtraInfo tables lost in the
lidarlib->xlidar refactor (verified against current code), and the empty
xlocd/ tree left by a stray sync run is gone.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Trương Văn Lộc
2026-07-13 09:44:41 +07:00
parent f02d81c031
commit ef217bdca8
12 changed files with 455 additions and 169 deletions
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19
plugins/driver_espe/espe_driver.cpp
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@@ -270,12 +270,13 @@ const DriverInfo kDriverInfo = [] {
info.model = "LGA60";
info.driver_id = "espe_lga60_driver";
info.description = "ESPE LGA60 320° laser scanner — TCP by default, UDP via "
"use_udp; open() sends the RAuto start command; device "
"parameters come from the vendor Windows tool. Default "
"port 8080 (vendor default IP 192.168.1.88). Ported from "
"the vendor ROS driver; not verified on real hardware.";
"DeviceConfig::transport; open() sends the RAuto start "
"command; device parameters come from the vendor Windows "
"tool. Default port 8080 (vendor default IP 192.168.1.88). "
"Ported from the vendor ROS driver; not verified on real "
"hardware.";
info.transport = Transport::Tcp;
info.transport_selectable = true; // use_udp switches to UDP
info.transport_selectable = true; // transport = udp switches to UDP
info.supported_models = {"ESPE-LGA60"};
return info;
}();
@@ -293,7 +294,11 @@ XLIDAR_PLUGIN_EXPORT void get_driver_info(xlidar::DriverInfo* out) {
XLIDAR_PLUGIN_EXPORT xlidar::LidarDriverInterface*
create_driver_instance(const xlidar::DeviceConfig* cfg) {
using namespace xlidar;
const uint16_t port = cfg->port ? cfg->port : 8080;
if (!transport_supported(kDriverInfo, *cfg))
return new InvalidConfigDriver(kDriverInfo,
std::string("unsupported transport '") + to_string(*cfg->transport) + "'");
const uint16_t port = cfg->port ? cfg->port : 8080;
const bool use_udp = cfg->transport == Transport::Udp;
return new EspeDriver(apply_device_config(MODEL_ESPE_LGA60, *cfg),
cfg->ip, port, cfg->use_udp, cfg->inverted);
cfg->ip, port, use_udp, cfg->inverted);
}