loctv
5b2c74bd36
- LidarManager facade (liblidar_manager.so): dlopen plugin discovery, available_drivers map<driver_id, PluginRegistry>, create_lidar_device, config.json load/save with legacy lidarlib migration - Common LidarDriverInterface + DriverInfo/DeviceConfig plugin ABI (extern C get_driver_info / create_driver_instance) - Plugins: driver_rplidar (ported from xlocd, Slamtec SDK), driver_olei, driver_sick_code (TiM CoLa-A), driver_sick_safety (nanoScan3), driver_espe - Diagnostics extended with rplidar health + firmware; FOV filter window, range override and legacy remap window unified in DeviceConfig - Rewritten README, diagnostics doc and examples (list_drivers, example, lidar_app) Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
72 lines
2.5 KiB
C++
72 lines
2.5 KiB
C++
// Open one lidar through the manager and read 10 scans.
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// ./example <driver_id> [plugins_dir]
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// ./example olei_lidar_driver
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// ./example rplidar_c1_driver
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#include "lidar_manager.hpp"
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#include <cstdio>
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int main(int argc, char** argv) {
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if (argc < 2) {
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fprintf(stderr, "usage: %s <driver_id> [plugins_dir]\n", argv[0]);
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return 1;
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}
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const std::string plugins_dir = (argc > 2) ? argv[2] : "plugins";
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xlidar::LidarManager manager(plugins_dir);
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manager.load_all_plugins();
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xlidar::DeviceConfig cfg;
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cfg.name = "demo";
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cfg.driver_id = argv[1];
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// Network drivers use cfg.ip / cfg.port (0 = driver default port);
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// the rplidar driver uses cfg.serial_port / cfg.baudrate instead.
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auto lidar = manager.create_lidar_device(cfg);
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if (!lidar) return 1;
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xlidar::DriverInfo info = lidar->get_driver_info();
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printf("driver: %s (%s %s)\n", info.driver_id.c_str(), info.vendor.c_str(),
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info.model.c_str());
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xlidar::ErrorCode err = lidar->open();
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if (err != xlidar::ErrorCode::Ok) {
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fprintf(stderr, "open failed: %s\n", xlidar::to_string(err));
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return 1;
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}
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// Wait until the sensor is usable: at least one complete scan decoded
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// and the device reports no fault (motor/voltage/pollution/...).
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if (!lidar->wait_ready(5000)) {
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fprintf(stderr, "sensor not ready: %s (diag: %s)\n",
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xlidar::to_string(lidar->last_error()),
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xlidar::to_string(lidar->get_diagnostics()).c_str());
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lidar->close();
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return 1;
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}
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for (int i = 0; i < 10; ++i) {
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xlidar::ScanResult result;
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if (!lidar->recv_scan(result, 2000)) {
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fprintf(stderr, "recv_scan failed: %s\n", xlidar::to_string(lidar->last_error()));
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break;
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}
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const xlidar::LaserScan& scan = result.scan;
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printf("scan #%d: %zu points, ts=%u ms, model=%s\n",
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i, scan.ranges.size(), scan.timestamp_ms,
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result.info.detected_model.c_str());
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// Device self-diagnostics from the newest scan.
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xlidar::Diagnostics diag = lidar->get_diagnostics();
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printf(" diag: %s\n", xlidar::to_string(diag).c_str());
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for (size_t j = 0; j < 5 && j < scan.ranges.size(); ++j) {
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float angle_deg = (scan.angle_min + j * scan.angle_increment) * 180.f / 3.14159265f;
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printf(" [%zu] angle=%.2f° dist=%.3fm intensity=%.0f\n",
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j, angle_deg, scan.ranges[j], scan.intensities[j]);
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}
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}
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lidar->close();
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return 0;
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}
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