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>
64 lines
2.4 KiB
C++
64 lines
2.4 KiB
C++
// SICK nanoScan3 / microScan3 safety scanners over UDP — plugin-private header.
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#pragma once
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#include "lidar_interface.hpp"
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#include <cstdint>
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#include <string>
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#include <vector>
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namespace xlidar {
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inline constexpr ModelConfig MODEL_SICK_NANOSCAN3 { "SICK-nanoScan3", -137.5f, 137.5f, 0.05f, 40.f };
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// SICK nanoScan3 / microScan3 safety-scanner binary UDP output. Layout ported
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// from SICK's open-source sick_safetyscanners; NOT verified on real hardware.
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// Passive UDP receiver: the sensor's UDP target must be configured up front in
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// SICK Safety Designer — this class does no CoLa2/TCP handshake.
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class SickSafetyDriver : public LidarDriverInterface {
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public:
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// ip: local bind address; port: local UDP port the sensor sends to;
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// inverted: unit mounted upside-down → mirror the scan.
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explicit SickSafetyDriver(const ModelConfig& cfg,
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const std::string& ip = "0.0.0.0",
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uint16_t port = 6060,
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bool inverted = false);
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~SickSafetyDriver();
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SickSafetyDriver(const SickSafetyDriver&) = delete;
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SickSafetyDriver& operator=(const SickSafetyDriver&) = delete;
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DriverInfo get_driver_info() const override;
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ErrorCode open() override;
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void close() override;
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bool recv_scan(ScanResult& out, int timeout_ms = 1000) override;
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void set_scan_callback(ScanCallback cb) override { cb_ = std::move(cb); }
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bool spin_once() override;
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bool is_open() const override { return sock_fd_ >= 0; }
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// No model string on the wire — returns the configured name.
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const char* detected_model() const override { return detected_model_name_.c_str(); }
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Diagnostics get_diagnostics() const override { return latest_diag_; }
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private:
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int recv_datagram(int timeout_ms);
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bool parse_packet(const uint8_t* buf, int len, ScanResult& out);
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ModelConfig cfg_;
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std::string detected_model_name_; // owned copy of cfg_.name (stable lifetime)
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std::string ip_;
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uint16_t port_;
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bool inverted_ = false;
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int sock_fd_ = -1;
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ScanCallback cb_;
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// Snapshot for get_diagnostics(); refreshed by parse_packet().
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Diagnostics latest_diag_;
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// Per-instance; sized for a full safety-data packet (max ~2751 beams).
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std::vector<uint8_t> recv_buf_;
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};
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} // namespace xlidar
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