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>
77 lines
2.5 KiB
C++
77 lines
2.5 KiB
C++
// Headless skeleton app: loads config.json, one reader thread per lidar.
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// ./lidar_app [config.json] [plugins_dir]
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#include "lidar_manager.hpp"
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#include <atomic>
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#include <csignal>
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#include <cstdio>
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#include <memory>
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#include <thread>
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#include <vector>
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namespace {
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std::atomic<bool> g_running{true};
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void on_signal(int) { g_running = false; }
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void run_lidar(xlidar::LidarManager& manager, xlidar::DeviceConfig cfg) {
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std::unique_ptr<xlidar::LidarDriverInterface> lidar = manager.create_lidar_device(cfg);
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if (!lidar) return;
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xlidar::ErrorCode err = lidar->open();
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if (err != xlidar::ErrorCode::Ok) {
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fprintf(stderr, "[%s] open failed %s (%s)\n",
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cfg.name.c_str(), cfg.driver_id.c_str(), xlidar::to_string(err));
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return;
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}
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printf("[%s] opened %s (model=%s, inverted=%d)\n",
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cfg.name.c_str(), cfg.driver_id.c_str(), cfg.model.c_str(), cfg.inverted);
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while (g_running) {
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xlidar::ScanResult result;
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if (!lidar->recv_scan(result, 1000)) continue;
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printf("[%s] %zu points | ts=%u ms | model=%s | diag=%s\n",
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cfg.name.c_str(), result.scan.ranges.size(), result.scan.timestamp_ms,
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result.info.detected_model.c_str(),
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xlidar::to_string(lidar->get_diagnostics()).c_str());
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}
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lidar->close();
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printf("[%s] closed\n", cfg.name.c_str());
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}
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} // namespace
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int main(int argc, char** argv) {
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setvbuf(stdout, nullptr, _IOLBF, 0);
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const std::string config_path = (argc > 1) ? argv[1] : "config.json";
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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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printf("%zu driver(s) available\n", manager.load_all_plugins());
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xlidar::ManagerConfig cfg = xlidar::load_config(config_path);
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xlidar::save_config(config_path, cfg); // ensure the file exists (and migrate legacy keys)
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if (cfg.lidars.empty()) {
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fprintf(stderr, "no lidars in %s\n", config_path.c_str());
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return 1;
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}
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std::signal(SIGINT, on_signal);
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std::signal(SIGTERM, on_signal);
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// One thread per device — instances are fully independent. The manager
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// outlives every thread (join below), as the plugin contract requires.
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std::vector<std::thread> threads;
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threads.reserve(cfg.lidars.size());
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for (const auto& lc : cfg.lidars)
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threads.emplace_back(run_lidar, std::ref(manager), lc);
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printf("running %zu lidar(s) from %s. Ctrl-C to stop.\n",
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cfg.lidars.size(), config_path.c_str());
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for (auto& t : threads) t.join();
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return 0;
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}
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