refactor: rename driver_sick_code plugin to driver_sick_tim

The driver targets the SICK TiM 5xx/7xx family over CoLa-A; "code" described
neither the devices nor the protocol. driver_id stays sick_tim_driver.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

README.md

@@ -29,7 +29,7 @@ xlidar_driver/
 │   ├── common/plugin_helpers.hpp
 │   ├── driver_rplidar/         # → driver_rplidar.so     (rplidar_c1_driver)
 │   ├── driver_olei/            # → driver_olei.so        (olei_lidar_driver)
-│   ├── driver_sick_code/       # → driver_sick_code.so   (sick_tim_driver)
+│   ├── driver_sick_tim/        # → driver_sick_tim.so    (sick_tim_driver)
 │   ├── driver_sick_safety/     # → driver_sick_safety.so (sick_nanoscan3_driver)
 │   └── driver_espe/            # → driver_espe.so        (espe_lga60_driver)
 ├── examples/                   # list_drivers, example, lidar_app
@@ -211,7 +211,7 @@ khi load: `brand`+`model` → `driver_id`, cặp `angle_*_deg` cũ → remap.
 |---|---|---|---|---|---|
 | `rplidar_c1_driver` | `driver_rplidar.so` | Slamtec RPLIDAR | serial | `AUTO`, `C1` | Build trên SDK vendor; default C1 @ 460800; A/S series dùng được với baud tương ứng. Health check lúc `open()`, model/firmware tự nhận |
 | `olei_lidar_driver` | `driver_olei.so` | OLEI 2D | udp | `AUTO`, `VB`, `VF`, `LR-1F`, `LR-1FMI`, `LR-1BS5`, `LR-16F`, `GS1-5` | Tự nhận diện giao thức Family A/B/C theo frame ID từng gói; `AUTO` tự dò model (Family B/C). Port mặc định 2368 |
-| `sick_tim_driver` | `driver_sick_code.so` | SICK TiM 5xx/7xx | tcp | `SICK-TIM5xx`, `SICK-TIM571`, `SICK-TIM7xx` | SOPAS/CoLa-A; `open()` tự start stream. Port 2111. Verify trên TiM781S thật |
+| `sick_tim_driver` | `driver_sick_tim.so` | SICK TiM 5xx/7xx | tcp | `SICK-TIM5xx`, `SICK-TIM571`, `SICK-TIM7xx` | SOPAS/CoLa-A; `open()` tự start stream. Port 2111. Verify trên TiM781S thật |
 | `sick_nanoscan3_driver` | `driver_sick_safety.so` | SICK nanoScan3/microScan3 | udp | `SICK-nanoScan3` | Receiver thụ động UDP safety-data; đích UDP cấu hình sẵn bằng Safety Designer. Port 6060. Chưa verify phần cứng |
 | `espe_lga60_driver` | `driver_espe.so` | ESPE LGA60 | tcp (+udp) | `ESPE-LGA60` | FOV 320°; `open()` gửi `RAuto`; tham số thiết bị theo tool Windows của hãng. Port 8080. Chưa verify phần cứng |
 

plugins/CMakeLists.txt

@@ -23,7 +23,7 @@ function(xlidar_add_plugin name)
 endfunction()
 
 add_subdirectory(driver_olei)
-add_subdirectory(driver_sick_code)
+add_subdirectory(driver_sick_tim)
 add_subdirectory(driver_sick_safety)
 add_subdirectory(driver_espe)
 add_subdirectory(driver_rplidar)

plugins/driver_sick_code/CMakeLists.txt

@@ -1 +0,0 @@
-xlidar_add_plugin(driver_sick_code sick_code_driver.cpp)

plugins/driver_sick_tim/CMakeLists.txt

@@ -0,0 +1 @@
+xlidar_add_plugin(driver_sick_tim sick_tim_driver.cpp)

plugins/driver_sick_tim/sick_tim_driver.cpp

@@ -1,6 +1,6 @@
 // SICK TiM 5xx/7xx — SOPAS/CoLa-A ASCII telegrams over TCP ("sSN/sRA
 // LMDscandata" parsing).
-#include "sick_code_driver.hpp"
+#include "sick_tim_driver.hpp"
 #include "plugin_helpers.hpp"
 
 #include <cctype>
@@ -42,14 +42,14 @@ std::vector<std::string> tokenize(const std::string& s) {
 }
 } // namespace
 
-SickCodeDriver::SickCodeDriver(const ModelConfig& cfg, const std::string& ip, uint16_t port,
+SickTimDriver::SickTimDriver(const ModelConfig& cfg, const std::string& ip, uint16_t port,
                                bool inverted)
     : cfg_(cfg), detected_model_name_(cfg.name ? cfg.name : ""), ip_(ip), port_(port),
       inverted_(inverted) {}
 
-SickCodeDriver::~SickCodeDriver() { close(); }
+SickTimDriver::~SickTimDriver() { close(); }
 
-ErrorCode SickCodeDriver::open() {
+ErrorCode SickTimDriver::open() {
     if (is_open()) return set_error(ErrorCode::AlreadyOpen);
 
     sockaddr_in addr{};
@@ -79,7 +79,7 @@ ErrorCode SickCodeDriver::open() {
     return set_error(ErrorCode::Ok);
 }
 
-void SickCodeDriver::close() {
+void SickTimDriver::close() {
     if (sock_fd_ >= 0) {
         send_telegram("sEN LMDscandata 0");  // best-effort
         ::close(sock_fd_);
@@ -87,7 +87,7 @@ void SickCodeDriver::close() {
     }
 }
 
-bool SickCodeDriver::send_telegram(const std::string& body) {
+bool SickTimDriver::send_telegram(const std::string& body) {
     if (sock_fd_ < 0) return false;
     std::string framed;
     framed.reserve(body.size() + 2);
@@ -106,7 +106,7 @@ bool SickCodeDriver::send_telegram(const std::string& body) {
 
 // CoLa-A has no length prefix, so ETX is the only frame boundary; recv_buf_
 // carries leftover bytes across calls.
-bool SickCodeDriver::read_telegram(std::string& out, int timeout_ms) {
+bool SickTimDriver::read_telegram(std::string& out, int timeout_ms) {
     if (!is_open()) { set_error(ErrorCode::NotOpen); return false; }
 
     for (;;) {
@@ -139,7 +139,7 @@ bool SickCodeDriver::read_telegram(std::string& out, int timeout_ms) {
     }
 }
 
-bool SickCodeDriver::recv_scan(ScanResult& out, int timeout_ms) {
+bool SickTimDriver::recv_scan(ScanResult& out, int timeout_ms) {
     for (;;) {
         std::string telegram;
         if (!read_telegram(telegram, timeout_ms)) return false;
@@ -148,7 +148,7 @@ bool SickCodeDriver::recv_scan(ScanResult& out, int timeout_ms) {
     }
 }
 
-bool SickCodeDriver::spin_once() {
+bool SickTimDriver::spin_once() {
     std::string telegram;
     if (!read_telegram(telegram, 0)) return false;
 
@@ -160,7 +160,7 @@ bool SickCodeDriver::spin_once() {
 
 // CoLa-A "sSN/sRA LMDscandata": space-separated ASCII hex tokens, field order
 // per SICK's Telegram Listing. "DIST1" → ranges, "RSSI1" → intensities.
-bool SickCodeDriver::parse_lmdscandata(const std::string& telegram, ScanResult& out) {
+bool SickTimDriver::parse_lmdscandata(const std::string& telegram, ScanResult& out) {
     std::vector<std::string> tok = tokenize(telegram);
     if (tok.size() < 20) return false;
     if (tok[0] != "sSN" && tok[0] != "sRA") return false;
@@ -301,7 +301,7 @@ const ModelConfig* model_by_name(const std::string& name) {
 
 } // namespace
 
-DriverInfo SickCodeDriver::get_driver_info() const { return kDriverInfo; }
+DriverInfo SickTimDriver::get_driver_info() const { return kDriverInfo; }
 
 } // namespace xlidar
 
@@ -315,5 +315,5 @@ create_driver_instance(const xlidar::DeviceConfig* cfg) {
     const ModelConfig* preset = model_by_name(cfg->model);
     if (!preset) preset = &MODEL_SICK_TIM571;  // brand default
     const uint16_t port = cfg->port ? cfg->port : 2111;
-    return new SickCodeDriver(apply_device_config(*preset, *cfg), cfg->ip, port, cfg->inverted);
+    return new SickTimDriver(apply_device_config(*preset, *cfg), cfg->ip, port, cfg->inverted);
 }

plugins/driver_sick_tim/sick_tim_driver.hpp

@@ -17,17 +17,17 @@ inline constexpr ModelConfig MODEL_SICK_TIM7XX { "SICK-TIM7xx", -135.f, 135.f, 0
 // 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 {
+class SickTimDriver : public LidarDriverInterface {
 public:
     // inverted: unit mounted upside-down → mirror the scan.
-    explicit SickCodeDriver(const ModelConfig& cfg,
+    explicit SickTimDriver(const ModelConfig& cfg,
                             const std::string& ip,
                             uint16_t            port     = 2111,
                             bool                inverted = false);
-    ~SickCodeDriver();
+    ~SickTimDriver();
 
-    SickCodeDriver(const SickCodeDriver&)            = delete;
-    SickCodeDriver& operator=(const SickCodeDriver&) = delete;
+    SickTimDriver(const SickTimDriver&)            = delete;
+    SickTimDriver& operator=(const SickTimDriver&) = delete;
 
     DriverInfo get_driver_info() const override;