Field-verified on an OLELR-1BS5 unit: with offset 0 the SLAM pose moved
correctly but the estimated heading came out 180° from the direction of
travel (the classic rotated-sensor-frame signature). The 1BS5 numbers
its angles from the rear like its LR-1F/LR-1FMI siblings, so it gets the
same angle_offset_deg = 180 so that driver output 0° = ahead.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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>
